A backstepping controller design technique for a class of cascaded nonlinear systems with unknown dynamics

Document identifier: oai:DiVA.org:ltu-75940
Access full text here:10.23919/ACC.2019.8814390
Keyword: Engineering and Technology, Electrical Engineering, Electronic Engineering, Information Engineering, Control Engineering, Teknik och teknologier, Elektroteknik och elektronik, Reglerteknik, Backstepping, Uncertain nonlinear systems, Model-free control
Publication year: 2019

In this study, we consider the stabilization of a class of cascaded nonlinear systems in strict feedback form with unknown dynamics and known relative order. The stabilization of the unknown system is achieved by a cascaded feedback design procedure that uses a backstepping-like approach. The unknown system functions are estimated using a phasor estimation approach using a single sinusoidal perturbation. The stability analysis shows the semi-global practical stability of the closed loop system and the practical convergence of the entire system to the origin.


Martin Guay

Chemical Engineering, Queen’s University, Kingston, ON, K7L 3N6, Canada
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Khalid Tourkey Atta

Luleå tekniska universitet; Signaler och system
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