Dynamic extension for adaptive backstepping control of uncertain pure-feedback systems

Lukas Triska; Jhon Portella; Johann Reger

doi:10.1016/j.ifacol.2021.10.371

Dynamic extension for adaptive backstepping control of uncertain pure-feedback systems

Lukas Triska, Jhon Portella, Johann Reger

Sección de Ingeniería Mecánica

Research output: Contribution to journal › Conference article › peer-review

3 Scopus citations

Abstract

An adaptive backstepping algorithm is developed for a class of uncertain systems in pure-feedback form. The control is based on a dynamic state feedback that allows to compensate for parametric uncertainties which enter linearly into the system. As possible in the nominal case, a dynamic extension of just order one is required, in addition to the dynamics of the identifiers for the adaptation. The regularity of the control law only requires standard assumptions.

Original language	English
Pages (from-to)	307-312
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	54
Issue number	14
DOIs	https://doi.org/10.1016/j.ifacol.2021.10.371
State	Published - 2021
Event	3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 - Tokyo, Japan Duration: 15 Sep 2021 → 17 Sep 2021

Keywords

Adaptive Control
Backstepping Control
Dynamic Extensions
Lyapunov Methods

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10.1016/j.ifacol.2021.10.371

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title = "Dynamic extension for adaptive backstepping control of uncertain pure-feedback systems",

abstract = "An adaptive backstepping algorithm is developed for a class of uncertain systems in pure-feedback form. The control is based on a dynamic state feedback that allows to compensate for parametric uncertainties which enter linearly into the system. As possible in the nominal case, a dynamic extension of just order one is required, in addition to the dynamics of the identifiers for the adaptation. The regularity of the control law only requires standard assumptions.",

keywords = "Adaptive Control, Backstepping Control, Dynamic Extensions, Lyapunov Methods",

author = "Lukas Triska and Jhon Portella and Johann Reger",

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AU - Triska, Lukas

AU - Portella, Jhon

AU - Reger, Johann

PY - 2021

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AB - An adaptive backstepping algorithm is developed for a class of uncertain systems in pure-feedback form. The control is based on a dynamic state feedback that allows to compensate for parametric uncertainties which enter linearly into the system. As possible in the nominal case, a dynamic extension of just order one is required, in addition to the dynamics of the identifiers for the adaptation. The regularity of the control law only requires standard assumptions.

KW - Adaptive Control

KW - Backstepping Control

KW - Dynamic Extensions

KW - Lyapunov Methods

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DO - 10.1016/j.ifacol.2021.10.371

M3 - Conference article

AN - SCOPUS:85120643100

SN - 2405-8963

VL - 54

SP - 307

EP - 312

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 14

T2 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021

Y2 - 15 September 2021 through 17 September 2021

ER -

Dynamic extension for adaptive backstepping control of uncertain pure-feedback systems

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Keywords

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