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Semi-global adaptive backstepping control for parametric strict-feedback systems with non-triangular structural

Jianping Cai1, Congli Mei2, Qiuzhen Yan3

  • 1Institute of Applied Mathematics, Zhejiang University of Water Resources and Electric Power, Hangzhou, 310018, PR China.

ISA Transactions
|August 16, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces two adaptive control schemes for complex parametric feedback systems. These methods ensure system stability despite non-triangular uncertainties, overcoming previous limitations.

Keywords:
Adaptive controlBacksteppingModelling errorsNon-triangular structural uncertainties

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Area of Science:

  • Control Theory
  • Nonlinear Systems
  • Adaptive Control

Background:

  • Parametric strict-feedback systems often exhibit non-triangular structural uncertainties.
  • Existing control methods struggle with these uncertainties due to a lack of linear state transformation.
  • Unknown nonlinear functions and parameters in state equations complicate controller design.

Purpose of the Study:

  • To propose novel semi-global adaptive control schemes for parametric strict-feedback systems.
  • To address challenges posed by non-triangular structural uncertainties in control design.
  • To guarantee closed-loop system stability in the presence of unknown system dynamics.

Main Methods:

  • Development of two semi-global adaptive control schemes.
  • Introduction of semi-global stability analysis to circumvent limitations of traditional backstepping methods.
  • Design of controllers that do not require a linear relation between state and transformed vectors.

Main Results:

  • The proposed control schemes effectively handle non-triangular structural uncertainties.
  • Semi-global stability analysis ensures the stability of the closed-loop system.
  • Simulation studies validate the performance and effectiveness of the developed controllers.

Conclusions:

  • The novel adaptive control schemes provide a robust solution for systems with non-triangular uncertainties.
  • The use of semi-global stability analysis is key to overcoming design limitations.
  • The proposed methods offer a reliable approach for stabilizing complex nonlinear systems.