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Robustness of an adaptive backstepping controller without modification

✍ Scribed by Changyun Wen; Ying Zhang; Yeng Chai Soh

Book ID
104301228
Publisher
Elsevier Science
Year
1999
Tongue
English
Weight
137 KB
Volume
36
Category
Article
ISSN
0167-6911

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✦ Synopsis

This paper examines the robustness of the adaptive controller designed using the backstepping technique proposed in Kristic et al. (Nonlinear and Adaptive Control Design, Wiley, New York, 1995). It is shown that the adaptive controller without any modiΓΏcation still possesses some robustness against a class of unmodeled dynamics. Moreover, the system transient performance in the presence of unmodeled dynamics can be improved to an arbitrary level by adjusting the controller design parameters.

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