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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages1633-1638
Number of pages6
Volume2
Publication statusPublished - 2001
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: 2001 Dec 42001 Dec 7

Other

Other40th IEEE Conference on Decision and Control (CDC)
CountryUnited States
CityOrlando, FL
Period01/12/401/12/7

Fingerprint

Nonlinear systems
Backstepping
Error analysis
Feedback
Uncertainty

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Ahn, C. K., Kim, B. S., & Lim, M. T. (2001). An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 1633-1638)

An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty. / Ahn, Choon Ki; Kim, Beom S.; Lim, Myo Taeg.

Proceedings of the IEEE Conference on Decision and Control. Vol. 2 2001. p. 1633-1638.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ahn, CK, Kim, BS & Lim, MT 2001, An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty. in Proceedings of the IEEE Conference on Decision and Control. vol. 2, pp. 1633-1638, 40th IEEE Conference on Decision and Control (CDC), Orlando, FL, United States, 01/12/4.
Ahn CK, Kim BS, Lim MT. An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty. In Proceedings of the IEEE Conference on Decision and Control. Vol. 2. 2001. p. 1633-1638
Ahn, Choon Ki ; Kim, Beom S. ; Lim, Myo Taeg. / An estimation based robust adaptive control of nonlinear systems with a general set of uncertainty. Proceedings of the IEEE Conference on Decision and Control. Vol. 2 2001. pp. 1633-1638
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