A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics 论文

详细信息

发表期刊/会议

IEEE Transactions on Automatic Control

发表日期

1999-01-01

发表年份

1999

摘要

This paper presents a constructive robust adaptive nonlinear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics. The adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.