An estimation approach to robust adaptive control of uncertain nonlinear systems with dynamic uncertainties

Choon Ki Ahn, Beom Soo Kim, Myo Taeg Lim

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, a novel estimation technique for a robust adaptive control scheme is presented for a class of uncertain nonlinear systems with a general set of uncertainty. For a class of introduced more extended semi-strict feedback forms which generalize the systems studied in recent years, a novel estimation technique is proposed to estimate the states of the fully nonlinear unmodeled dynamics without stringent conditions. With the introduction of powerful functions, the estimation error can be tuned to a desired small region around the origin via the estimator parameters. In addition, with some effective functions, a modified adaptive backstepping for dynamic uncertainties is presented to drive the output to an arbitrarily small region around the origin by an appropriate choice of the design parameters. With our proposed schemes, we can remove or relax the assumptions of the existing results.

Original languageEnglish
Pages (from-to)54-67
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Volume1
Issue number1
Publication statusPublished - 2003 Mar

Keywords

  • Adaptive backstepping
  • Dynamic uncertainties
  • State estimation technique
  • Uncertain nonlinear systems
  • Unmodeled dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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