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http://dx.doi.org/10.7471/ikeee.2019.23.2.716

State-Feedback Backstepping Controller for Uncertain Pure-Feedback Nonlinear Systems Using Switching Differentiator  

Park, Jang-Hyun (Dept. of Electrical and Control Engineering, Mokpo National University)
Publication Information
Journal of IKEEE / v.23, no.2, 2019 , pp. 716-721 More about this Journal
Abstract
A novel switching differentiator-based backstepping controller for uncertain pure-feedback nonlinear systems is proposed. Using asymptotically convergent switching differentiator, time-derivatives of the virtual controls are directly estimated in every backstepping design steps. As a result, the control law has an extremely simple form and asymptotical stability of the tracking error is guaranteed regardless of parametric or unstructured uncertainties and unmatched disturbances in the considered system. It is required no universal approximators such as neural networks or fuzzy logic systems that are adaptively tuned online to cope with system uncertainties. Simulation results show the simplicity and performance of the proposed controller.
Keywords
switching dif erentiator; asymptotic stability; approximation-free; pure-feedback system;
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