Backstepping is a powerful adaptive control method when applied to uncertain nonlinear systems. It provides an alternative to the traditional model‐reference adaptation system (MRAS) and self‐tuning regulation (STR) methods. The main advantage of the backstepping approach is the use of a recursive design procedure, which does not require that the parametric uncertainty should be matched by control inputs. The method is based on treating some state variables as virtual control Q, and designing intermediate control laws for them, which in turn are substituted to determine those state variables that are integrals of the first virtual set. In this way, adaptive control is carried out recursively by applying control to the parametric uncertainty appearing one integrator previously. Because of its departure from the certainty equivalence design, the back‐stepping integrator is said to cross the extended matching barrier that plagued the traditional Lyapunov‐based adaptive schemes.


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    Title :

    Adaptive Backstepping Control


    Contributors:

    Published in:

    Publication date :

    2016-04-04


    Size :

    10 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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