Nonlinear adaptive control of systems in feedback form: An alternative to adaptive backstepping
作者： Dimitrios Karagiannis , Alessandro Astolfi
DOI: 10.1016/J.SYSCONLE.2008.02.006
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摘要: An algorithm for the regulation via state feedback of a class linearly parameterised systems in form is presented. The resembles well-known adaptive backstepping/tuning functions approach, but differs way parameter estimator constructed and nonlinear damping factors are assigned. prominent feature proposed approach that it allows prescribed (uniformly stable) dynamics to be assigned estimation error, thus leading modular scheme which easier tune than one obtained from Lyapunov redesign practically recovers performance known-parameter controller. For with matched uncertainties an additional property that, contrast linearisation, corresponding non-adaptive controller globally stabilises system renders robust respect provided structural condition on regressor holds. A comparative example presented, highlighting advantages methodology.
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