Proceedings of the 17th world congress the international federation of automatic control seoul, korea, july 611, 2008 adaptive backstepping control of uncertain systems with unknown input timedelay jing zhou wei wang changyun wen department of engineering cybernetics, norwegian university of science and technology, 7491 trondheim, norway email. A backsteppingbased adaptive controller is designed for a class of uncertain nonlinear systems under the strictfeedback form, which, in particular. Adaptive backstepping control of uncertain systems with actuator failures, subsystem interactions, and nonsmooth nonlinearities crc press book in practice, actuators often undergo failures and various factors influence its effectiveness. Adaptive backstepping control for a class of uncertain nonaffine nonlinear timevarying delay systems with unknown deadzone nonlinearity weidongzhou,chengyiliao,andlanzheng college of automation, harbin engineering university, harbin, china correspondence should be addressed to chengyi liao. From simple designs to takeoff internal seminar january 27, 2005 automatic control linkopings universitet communication systems backstepping control of a rigid body plugandplay flight controller use vector. Adaptive backstepping control of uncertain systems nonsmooth. Adaptive backstepping and sliding mode control of uncertain. An indirect adaptive backstepping control strategy is proposed to cope with the stabilization problem, where the unknown nonlinearity is approximated by the adaptive neuralnetwork scheme, and the loss of effectiveness of actuators faults and the norm bounds of exogenous disturbances are estimated via designed online adaptive updating laws.
Adaptive backstepping control of the uncertain liu chaotic system 282 fig. The proposed control method is a synergy between the dynamic adaptive backstepping dab and integral sliding mode ism and is referred to as dabismc. The book is helpful to learn and understand the fundamental backstepping schemes. Adaptive control of nonlinear systems with deadzone nonlinearity 165 10. Because of such advantages, research on adaptive control using backstepping technique has also received great attention wen et al. This paper considers an adaptive backstepping algorithm for designing the control for a class of nonlinear continuous uncertain processes with disturbances that can be converted to a parametric semi. Dynamical adaptive integral backstepping variable structure. However, the lorenz system, as indicated in ge et al.
Adaptive backstepping control of practical uncertain. Adaptive backstepping control for fractionalorder nonlinear. Current backstepping algorithms require repeated differentiations of. Adaptive backstepping control of nonlinear systems. This paper investigates the stabilization problem for uncertain nonlinear systems with quantized states. Adaptive control, backstepping, state quantization, nonlinear systems, bounded quantizer. Adaptive backstepping control of uncertain systems with actuator failures, subsystem interactions, and nonsmooth nonlinearities 1st edition. In this paper, we study a class of feedback nonlinear systems, where the input signal takes quantized values. Neuralnetworkbased adaptive backstepping control with. Control researchers, especially those working in adaptive nonlinear control, will also widely benefit from this book.
Adaptive fuzzy backstepping dynamic surface control of strictfeedback fractional order uncertain nonlinear systems. The adaptive backstepping control method is an important technique to control uncertain integer order nonlinear systems with triangular structure 26, 27, which establishes a systematic framework. Backstepping control of uncertain systems find, read and cite all the research you need on researchgate. Design of controllers for uncertain systems using the bound on the parameters or on the norm of the vector functions have been discussed in robust adaptive control such as lin and qian 2002 and. In proceedings of the ieee conference on decision and control vol. Adaptive backstepping control of uncertain systems with actuator failures, subsystem interactions, and nonsmooth nonlinearities. Adaptive control of uncertain constrained nonlinear systems by tee keng peng b. Adaptive backstepping control of some uncertain nonlinear oscillators fayc. Then, adaptive backstepping design is used to control the lorenz system with three key parameters unknown. Adaptive control of nonlinear systems with deadzone nonlinearity. Pdf adaptive backstepping control of nonlinear systems with. Abstracta backsteppingbased adaptive controller is designed for a class of uncertain second orded nonlinear systems under the strictfeedback form. Adaptive backstepping control of uncertain systems with unknown input timedelay author links open overlay. Although mazenc 2003 and iasson 2006 did researches on such systems, the time delay and nonlinear system are all known and their approaches are nonadaptive state feedback control.
Adaptive backstepping control of the uncertain liu chaotic system. Backsteppingbased adaptive controllers for uncertain nonholonomic systems. Research article adaptive backstepping control for a class. Adaptive backstepping control of uncertain systems researchgate. Ac approaches are generally better at dealing with structured or parametric uncertainties but conventional strategies can suffer from poor parameter esti. In adaptive backstepping unknown plant parameters can be easily dealt with to design control laws.
Dynamical adaptive integral sliding backstepping control. The backstepping approach, a recursive lyapunovbased scheme, was p posed in the. Adaptive control of time delay systems successfully dealt with uncertain parameters in the system evesque et al. Employs the powerful and popular adaptive backstepping control technology to design controllers for dynamic uncertain systems with nonsmooth nonlinearities presents recent research as well as a selfcontained coverage of fundamentals on the backstepping approach illustrated with simple examples. Adaptive backstepping control of nonlinear uncertain systems with quantized states abstract. Wei wang was the receipt of zhang siying outstanding youth paper award in. The control law can be obtained in steps no greater than the order of the system. Adaptive backstepping control of nonlinear uncertain systems with. Adaptive backstepping control of uncertain linear systems under.
It can be used as an additional textbook on adaptive control for advanced students. Adaptive fuzzy backstepping dynamic surface control of. In this paper, an improved adaptive backstepping design is proposed to control the uncertain uni. This paper is concerned with the control of a class of chaotic systems using adaptive backstepping, which is a systematic design approach for constructing both feedback control laws and associated lyapunov functions. In this paper, a novel adaptive fuzzy backstepping output feedback control scheme is proposed for a class of singleinput singleoutput siso uncertain nonlinear systems without measurements of states. Adaptive backstepping simulation electrical engineering. Dynamical adaptive integral sliding backstepping control of. Adaptive backstepping control of uncertain systems springerlink. In this paper, we consider controlling a class of singleinputsingleoutput siso commensurate fractionalorder nonlinear systems with parametric uncertainty and external disturbance. Adaptive backstepping control of uncertain systems nonsmooth nonlinearities, interactions or timevariations. These adaptive laws are integrated into the dynamical adaptive integral backstepping control and variable structure control vsc parts of. Nonsmooth nonlinearities, interactions or timevariations lecture notes in control and information. Research article dynamical adaptive integral sliding backstepping control of nonlinear nontriangular uncertain systems mahmoodpervaiz, 1 qudratkhan, 2 aameriqbalbhatti, 3 andshahzadahmedmalik 1 department of electrical engineering, comsats institute of information technology ciit, park road.
Current backstepping algorithms require repeated differentiations of the modelled nonlinearities. Backstepping control of uncertain systems request pdf. We present a control strategy for nonlinear nontriangular uncertain systems. The development of adaptive control design techniques for nonlinear systems with parametric uncertainty has been intensively studied in recent years. Design of adaptive fuzzy backstepping sliding mode control. Adaptive robust backstepping output tracking control for a class of uncertain nonlinear systems using neural network. Adaptive backstepping control of some uncertain nonlinear. Pdf considers control design using an adaptive backstepping algorithm for a class of nonlinear continuous uncertain processes with disturbances which. Advantages of adaptive backstepping controller design procedure. Adaptive backstepping control for a class of uncertain. Dynamic adaptive robust backstepping control design for an. Research article adaptive backstepping control for a class of.
Adaptive backstepping control of uncertain nonlinear systems with input quantization abstract. These adaptive laws are integrated into the dynamical adaptive integral backstepping control and variable structure control vsc parts of the daibvsc. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost. The proposed controller guarantees asymptotic output tracking of systems in the strictfeedback form with unknown static parameters, and matched and unmatched dynamic uncertainties. The combination of adaptive backstepping and sliding mode control has also been proposed to design robust adaptive strategies for uncertain systems with disturbances. Adaptive backstepping stabilization of uncertain switched.
Intelligent adaptive backstepping control for mimo. Abstractin this technical note, we consider adaptive control of single input uncertain nonlinear systems in the presence of input saturation and unknown external disturbance. Fuzzy logic systems fls are used to tackle unknown nonlinear functions, and the adaptive fuzzy output feedback controller is constructed by combining fuzzy filters observer design and the. Based on backstepping approach, an adaptive controller is proposed with adaptive laws that are used to estimate the unknown system. We consider a stabilization problem for nonlinear uncertain systems via adaptive backstepping approach. It is necessary and important to investigate adaptive backstepping of uncertain systems with unknown input timedelay. Based on backstepping approach, an adaptive controller is proposed with adaptive laws that are used to estimate the unknown system parameters and the bound of unknown disturbance. They are referred to as backstepping designs because they step back toward the control input starting with a scalar equation.
Request pdf on jan 1, 2008, jing zhou and others published adaptive backstepping control of uncertain systems. Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlashlike hysteresis jingzhou,changyunwen,andyingzhang abstractin this note,we consider the same class of systems as in a previous paper,i. Riosbolivar and others published adaptive backstepping and sliding mode control of uncertain nonlinear systems find, read and cite all the research you need on. Adaptive control of uncertain nonlinear systems using mixed. Adaptive control of uncertain nonlinear systems using.
Adaptive backstepping control of nonlinear systems with unmatched uncertainty conference paper pdf available in proceedings of the ieee conference on decision and control 5. Adaptive backstepping control of uncertain nonlinear. Adaptive control of uncertain nonlinear systems using mixed backstepping and lyapunov redesign techniques ghazal montaseri, mohammad javad yazdanpanah. Adaptive backstepping control of uncertain systems with. Robust adaptive control of uncertain nonlinear systems in the. Adaptive backstepping control for a class of uncertain nonaffine nonlinear timevarying delay systems with unknown deadzone nonlinearity weidongzhou,chengyiliao,andlanzheng college of automation, harbin engineering university, harbin, china correspondence should. Adaptive stabilization of a class of uncertain switched nonlinear systems with backstepping control mingli chiang, lichen fu 1 department of electrical engineering, national taiwan university, 10617 taipei, taiwan article info. Volume 2014, special issue 2014, article id 758176, 14 pages.
This paper considers control design using an adaptive backstepping algorithm for a class of nonlinear continu ous uncertain processes with disturbances which. Control and intelligent processing center of excellence, school of electrical and computer engineering, college of engineering, university of tehran, tehran, iran a r t i c l e i n f o. The recently developed adaptive backstepping technique has provided a systematic solution to the problem of designing static adaptive controllers for uncertain nonlinear systems transformable into the triangular parametric strict feedback and. In this paper, we propose a new algorithm for adaptive backstepping control of nonlinear uncertain systems. Sliding mode control using a combined adaptive backstepping sliding mode control smc algorithm, is also studied. Abstract in this paper, a robust adaptive control law for a class of uncertain nonlinear systems is proposed. In this control design, adaptive backstepping is used to deal with unknown or uncertain parameters and the matching condition restricting the. Robust adaptive control of uncertain nonlinear systems in.
This book presents new methodologies for the design and analysis of adaptive control systems based on the backstepping approach. Dynamic adaptive robust backstepping control design for an uncertain linear system hadi hajieghrary graduate research assistant scalable autonomous systems lab drexel university philadelphia, pa 19104 email. All states in the system are quantized by a static bounded quantizer, including uniform quantizer, hysteresisuniform quantizer, and logarithmic. This paper presents an adaptive fuzzy backstepping sliding mode control for multiinput and multioutput uncertain nonlinear systems in semistrict feedback form. The general strictfeedback normal form since the liu chaotic system cannot be controlled directly using the backstepping method for its singularity problem, we transform it into the socalled general strictfeedback form. Adaptive backstepping sliding mode control with tuning. An adaptive backstepping control scheme is proposed for taskspace trajectory tracking of robot manipulators in the presence of uncertain parameters and external disturbances. Adaptive backstepping control of uncertain systems.
Intelligent adaptive backstepping control for mimo uncertain. Her research interests include adaptive control of uncertain systems, distributed cooperative control of multiagent systems, fault tolerant control and secure control of cyberphysical systems. Keywords adaptive control, backstepping control, quadrotor helicopter, rbf neural network, robust control, uncertain nonlinear mimo systems references allaoua, b, gasbaoui, b, mebarki, b 2009 setting up pid dc motor speed control alteration parameters using particle swarm optimization strategy. Therefore, it is necessary and important to investigate adaptive backstepping of. An adaptive backstepping controller is constructed for a class of nonaffine nonlinear timevarying delay systems in strict feedback form with unknown dead zone and unknown control directions. In the present paper, we design adaptive state feedback and adaptive output feedback controllers for a class of uncertain switched nonlinear systems. Adaptive backstepping control for a class of uncertain nonaffine nonlinear timevarying delay systems with unknown deadzone nonlinearity.
In this paper, we consider the problem of controlling chaos in the wellknown lorenz system. Ani hsieh associate professor scalable autonomous systems lab drexel university philadelphia, pa 19104. Adaptive backstepping control of nonlinear uncertain. The class of adaptive backstepping nonlinear systems has been broadened to observable minimum phase systems which are not necessarily transformable into tri angular forms. Pdf adaptive backstepping and sliding mode control of. Pdf adaptive backstepping control of nonlinear systems. Adaptive backstepping control of the uncertain uni. Neurofuzzybased adaptive dynamic surface control for fractionalorder. Doi link for adaptive backstepping control of uncertain systems with actuator failures, subsystem interactions, and nonsmooth nonlinearities.
Adaptive backstepping control of a class of uncertain. Both the stability properties and control law can be ensured in this same step. Nonsmooth nonlinearities, interactions or timevariations lecture notes in control and information sciences zhou, jing, wen, changyun on. Nonsmooth nonlinearities, interactions or timevariations jing zhou, changyun wen auth. Adaptive robust backstepping output tracking control for a. Adaptive backstepping control of uncertain systems with unknown. Adaptive backstepping control design for the uncertain lorenz system with three key parameters unknown, we develop a design procedure via backstepping which can. To simplify controller design, nonaffine system is first transformed into an affine system by using mean value theorem and the unknown nonsymmetric deadzone nonlinearity is treated as a combination of a. Lecture notes in control and information sciences, vol 372. Haghpanah, arash, eghtesad, mohammad, hematiyan, mohammad rahim, and khayatian, alireza. Proceedings of the asme 2010 international mechanical engineering congress and exposition. Research article dynamical adaptive integral sliding. Adaptive backstepping control of a class of uncertain nonlinear. Backsteppingbased adaptive controllers for uncertain.
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