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

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

1 Cita (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	307-312
Número de páginas	6
Publicación	IFAC-PapersOnLine
Volumen	54
N.º	14
DOI	https://doi.org/10.1016/j.ifacol.2021.10.371
Estado	Publicada - 2021
Evento	3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 - Tokyo, Japón Duración: 15 set. 2021 → 17 set. 2021

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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",

note = "Publisher Copyright: Copyright {\textcopyright} 2021 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 ; Conference date: 15-09-2021 Through 17-09-2021",

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AU - Portella, Jhon

AU - Reger, Johann

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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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M3 - Conference article

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

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

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