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
Abstract:

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.

Authors

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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