An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty

Choon Ki Ahn, Beom Soo Kim, Myo Taeg Lim

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper, a novel estimation technique based robust adaptive control scheme is presented for a class of uncertain nonlinear systems with a general set of uncertainty. Firstly, we introduce a more extended semi-strict feedback form which generalizes the systems studied in recent years. Secondly, a novel estimation technique is proposed to estimate the states of unmodeled dynamics under very mild conditions. With the introduction of powerful functions, estimation error can be tuned to a desired small region around the origin via the estimator parameters. Thirdly, with γ function, a modification of adaptive backstepping for dynamic uncertainties is presented to drive the output to an arbitrarily small region around the origin by 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)1633-1638
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2
Publication statusPublished - 2001
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: 2001 Dec 42001 Dec 7

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty'. Together they form a unique fingerprint.

Cite this