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http://dx.doi.org/10.5370/JEET.2009.4.2.292

Robust Adaptive Control for a Class of Nonlinear Systems with Complex Uncertainties  

Seo, Sang-Bo (ASRI, School of Electrical Engineering and Computer Science, Seoul National Univ.)
Back, Ju-Hoon (Dept. of Information and Control Engineering, Kwangwoon Univ.)
Shim, Hyung-Bo (ASRI, School of Electrical Engineering and Computer Science, Seoul National Univ.)
Seo, Jin-H. (ASRI, School of Electrical Engineering and Computer Science, Seoul National Univ.)
Publication Information
Journal of Electrical Engineering and Technology / v.4, no.2, 2009 , pp. 292-300 More about this Journal
Abstract
This paper considers a robust adaptive stabilization problem for a class of uncertain nonlinear systems which include an unknown virtual control coefficient, an unknown constant parameter, and a time-varying disturbance whose bound is unknown, We propose a new estimator for an un-known virtual control coefficient and present a robust adaptive backstepping design procedure which results in a smooth state feedback control law, a new two-dimensional parameter update law, and a $C^1$ Lyapunov function which is positive definite and proper.
Keywords
Robust control; Adaptive backstepping; Unknown virtual coefficient; Nonlinear parameterization;
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