By Topic

A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Zhong-Ping Jiang ; Dept. of Electr. Eng., Sydney Univ., NSW ; Hill, D.J.

This paper presents a constructive robust adaptive nonlinear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics. The adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results

Published in:

Automatic Control, IEEE Transactions on  (Volume:44 ,  Issue: 9 )