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Robust adaptive control of nonlinear discrete-time systems by backstepping without overparameterization

โœ Scribed by Ying Zhang; Changyun Wen; Yeng Chai Soh

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
153 KB
Volume
37
Category
Article
ISSN
0005-1098

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โœฆ Synopsis

This paper presents a robust backstepping adaptive controller to overcome the overparameterization problem in adaptive control of nonlinear discrete-time systems. It is shown that the proposed controller can guarantee the global boundedness of the states of the whole adaptive system in the presence of time-varying parametric and nonparametric uncertainties. It can also ensure that the tracking error falls within a compact set whose size is proportional to the magnitude of the uncertainties and disturbances.

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