Adaptive nonlinear control without overparametrization

Kristic, M.; Kanellakopoulos, I.; Kokotović, P.V.

doi:10.1016/0167-6911(92)90111-5

Cited by 685 publications

(304 citation statements)

References 2 publications

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“…In this section the tuning functions adaptive backstepping method as conceived in [117] is discussed. The ideas of the recursive backstepping approach of the previous chapter are extended to nonlinear systems with parametric uncertainties.…”

Section: Tuning Functions Adaptive Backsteppingmentioning

confidence: 99%

“…To overcome this problem a controller with strong parametric robustness properties is needed [119]. An alternative solution is to design the controller and identifier as a single integrated system using the adaptive backstepping design method [101,117,118]. By systematically constructing a Lyapunov function for the closed-loop system, adaptive backstepping offers the possibility to synthesize a controller for a wide class of nonlinear systems with parametric uncertainties.…”

Section: Problem Definitionmentioning

confidence: 99%

“…However, the true potential of backstepping was discovered only when the approach was developed for nonlinear systems with structured uncertainty. With adaptive backstepping [101,117] global stabilization is achieved in the presence of unknown parameters, and with robust backstepping [64,66,87] it is achieved in the presence of disturbances. The ease with which uncertainties and unknown parameters can be incorporated in the backstepping procedure is what makes the method so interesting.…”

Section: Introductionmentioning

confidence: 99%

“…Overparametrization is not necessarily disadvantageous from a performance point of view, but it is not very efficient in a numerical implementation of the controller due to the resulting higher dynamical order. With the introduction of the tuning functions adaptive backstepping method [117] the overparametrization was removed so that only one dynamic update law for each unknown parameter is needed. The first part of this chapter, Section 4.2, discusses the tuning functions adaptive backstepping approach.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Sonneveldt¹

2011

Advances in Flight Control Systems

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Section: Tuning Functions Adaptive Backsteppingmentioning

confidence: 99%

Section: Problem Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Sonneveldt¹

2011

Advances in Flight Control Systems

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“…Analytical bounds and simulation studies have shown that the new adaptive designs achieve better transient performance than the traditional schemes [3, Section 1.31. With the introduction of tuning functions, KrstiC et al [4,5] got a design that removed the over-parameterization originally present.…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping control for an XY-table

Rijs

Jager

1997

Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)

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Adaptive controllers, based on backstepping, are verified on practicability, and are used to improve the control of an experimental setup: an XY-table. Theoretical bounds for the adaptive schemes indicate strong transient performance. So far little is known about the robustness of the controllers. The robustness, with state and output feedback controllers, is verified with experiments for the XY-table.The controllers based on state teedback showed good results. They were easy to implement and their parameter tuning appeared straightforward. The controllers based on output feedback were more difficult to implement. In experiments the range of possible tunings was restricted due to a conflict between numerical accuracy and real time requirements. Two extensions on the original control scheme are proposed. Both extensions result in more freedom in the controller design. In the allowable tuning range, the results were still inferior to the results obtained with state feedback.

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Backstepping-Based Hybrid Adaptive Control of Robot Manipulators Incorporating Actuator Dynamics

Stepanenko

1997

Int. J. Adapt. Control Signal Process.

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SUMMARYBy using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor matrix. Semiglobal asymptotic stability of the controller is established in the Lyapunov sense. Simulation results are included to demonstrate the tracking performance.

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Adaptive nonlinear control without overparametrization

Cited by 685 publications

References 2 publications

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Adaptive backstepping control for an XY-table

Backstepping-Based Hybrid Adaptive Control of Robot Manipulators Incorporating Actuator Dynamics

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