Robust Adaptive Control of Nonlinear Output Feedback Systems Under Disturbances With Unknown Bounds
- Title
- Robust Adaptive Control of Nonlinear Output Feedback Systems Under Disturbances With Unknown Bounds
- Author
- 양해원
- Keywords
- adaptive control; control nonlinearities; controllers; state feedback; tracking; robust control; nonlinear systems; uncertain systems; variable structure systems; design
- Issue Date
- 2004-04
- Publisher
- ASME-AMER SOC MECHANICAL ENG
- Citation
- JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL, v. 126, No. 1, Page. 229-235
- Abstract
- This paper describes a systematic procedure to design robust adaptive controllers for a
class of nonlinear systemswith unknown functions of unknown bounds based on backstepping
and sliding mode techniques. These unknown functions can be unmodelled system
nonlinearities, uncertainties and disturbances with unknown bounds. Both state
feedback and output feedback designs are addressed. In the design procedure, the
upper bounds of the unknown functions are estimated using an adaptive strategy,
and the estimates are used to design stabilizing functions and control inputs
based on the backstepping design methodology. The proposed controllers guarantee
that the tracking errors converge to a residual set close to zero exponentially
for both state feedback and output feedback designs, while maintaining the
boundedness of all other variables.
- URI
- https://asmedigitalcollection.asme.org/dynamicsystems/article/126/1/229/445524/Robust-Adaptive-Control-of-Nonlinear-Outputhttps://repository.hanyang.ac.kr/handle/20.500.11754/136779
- ISSN
- 1528-9028; 0022-0434
- DOI
- 10.1115/1.1651534
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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