A robust adaptive backstepping scheme for nonlinear systems withunmodeled dynamics

Zhong-Ping Jiang; Hill D.J.

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A robust adaptive backstepping scheme for nonlinear systems withunmodeled dynamics

机译：具有非模型动力学的非线性系统的鲁棒自适应反推方案

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This paper presents a constructive robust adaptive nonlinear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics. The adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results

机译：本文提出了一种建设性的鲁棒自适应非线性控制方案，可以将其视为目前流行的自适应反推算法的一种鲁棒性。允许的不确定性类别包括非线性出现的参数不确定性，不确定性非线性和无法测量的输入至状态稳定动力学。本文提出的自适应控制定律不需要任何动态控制信号即可保证Lagrange稳定性的鲁棒性。一个简单的带有未知参数且没有速度测量的摆的数值例子说明了我们的理论结果

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《IEEE Transactions on Automatic Control》 |1999年第9期|p.1705-1711|共7页
作者
Zhong-Ping Jiang; Hill D.J.;
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正文语种 eng
中图分类自动化系统;
关键词
adaptive control; nonlinear control systems; robust control; uncertain systems; Lagrange stability; constructive robust adaptive nonlinear control scheme; nonlinearly appearing parametric uncertainty; robust adaptive backstepping scheme; simple pendulum; uncertai;

机译：自适应控制非线性控制系统鲁棒控制不确定系统拉格朗日稳定性构造鲁棒自适应非线性控制方案非线性出现参数不确定性鲁棒自适应反推方案简单摆不确定;

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1. Decentralized robust adaptive control of nonlinear systems withunmodeled dynamics [J] . Yusheng Liu, Xing-Yuan Li IEEE Transactions on Automatic Control . 2002,第5期

机译：具有非模型动力学的非线性系统的分散鲁棒自适应控制
2. A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics [J] . Zhong-Ping Jiang, Hill D.J. IEEE Transactions on Automatic Control . 1999,第9期

机译：具有非模型动力学的非线性系统的鲁棒自适应反推方案
3. Wire rope tension control of hoisting systems using a robust nonlinear adaptive backstepping control scheme [J] . Zhu Zhen-Cai, Li Xiang, Shen Gang, ISA Transactions . 2018,第期

机译：使用稳健的非线性自适应反向控制方案使用鲁棒非线性自适应反向控制方案的卷轴张力控制
4. Adaptive Fuzzy Robust Control for Nonlinear System with Dynamic Uncertainties Based on Backstepping [C] . Wang Tao, Tong Shaocheng International Conference on Innovative Computing, Information and Control . 2008

机译：基于BackStepping的动态不确定性的非线性系统自适应模糊鲁棒控制
5. Robust control design for teleoperation systems with haptic feedback using neural-adaptive backstepping. [D] . Richert, Dean Matthew. 2010

机译：具有神经自适应反推的带触觉反馈的远程操作系统的鲁棒控制设计。
6. Nonlinear robust integral backstepping based MPPT control for stand-alone photovoltaic system [O] . Kamran Ali, Qudrat Khan, Shafaat Ullah, 2020

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7. Robust adaptive neural backstepping control for a class of nonlinear systems with dynamic uncertainties [O] . Yang Hongyan, Wang Huanqing, Karimi Hamid Reza 2014

机译：一类具有动态不确定性的非线性系统的鲁棒自适应神经逆推控制
8. Robust Adaptive Finite Element Schemes for Nonlinear Viscoelastic SolidDeformation: An Investigative Study [R] . Whiteman, J. R., Shaw, S. 1998

机译：非线性粘弹性固体变形的鲁棒自适应有限元方案研究

A robust adaptive backstepping scheme for nonlinear systems withunmodeled dynamics

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