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Improved transient performance of nonlinear adaptive backstepping using estimator resetting based on multiple models

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3 Author(s)
J. Kalkkuhl ; DaimlerChrysler Res. & Technol., Stuttgart, Germany ; T. A. Johansen ; J. Ludemann

It is proved that the the transient performance of nonlinear adaptive backstepping can be improved by re-setting the parameter estimator, without loss of stability. The estimator re-setting algorithm is based on multiple-model adaptive control, where a number of models with fixed parameter vectors are monitored online in order to detect a parameter vector that gives a negative jump in the control Lyapunov function when replacing the estimate provided by the standard adaptation law. An application to wheel slip control is studied

Published in:

IEEE Transactions on Automatic Control  (Volume:47 ,  Issue: 1 )