Robust Backstepping Design of Nonlinear Systems Using Adaptation Strategy for Uncertaninties

불확실성 적응기법을 이용한 비선형 시스템의 강인 백스테핑 설계

  • Kim, Dong-Heon (Dept. of Electronic Engineering Hanyang University) ;
  • Kim, Eung-Seok (Dept. of Electrical Engineering, Halla University) ;
  • Yang, Hae-Won (Dept. of Electronic computer Engineering, Hanyang University)
  • 김동헌 (한양대학교 전기공학과) ;
  • 김응석 (한라대학교 전기공학부) ;
  • 양해원 (한양대학교 전자 컴퓨터 공학부)
  • Published : 2001.07.01


In this paper, we design a robust adaptive controller for a nonlinear system with uncertainties to be rejected via disturbance adaptation law. The nonlinear system considered has unknown nonlinear functions being influenced by external disturbance. The upper bound of unknown nonlinear functions at each time is estimated by using a disturbance adaptation law. The estimated nonlinear functions are used to design a stabilizing function a control input. Tuning function is used to estimates unknown system parameter without overparametrization. A set-point regulation error converges to a residual set close to zero asymptotically. The effectiveness of the proposed controller is investigated by computer simulation.


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