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Indirect adaptive backstepping control by using the virtual controls filtering

Auteurs : Y. Soukkou, S. Labiod, A. Boutaghane
Année : 2014
Domaine : Automatique
Type : Communication
Conférence: 2nd International Conference on Electro-Energy, ICEE2014
Résumé en PDF : (résumé en pdf)
Fulltext en PDF : (.pdf)
Mots clés : Backstepping control, adaptive control, dynamic surface control, Lyapunov stability, Single-link flexible-joint robot

Résumé :

In this paper, by using the dynamic surface control technique, an indirect adaptive backstepping controller based x-swapping identifier with a gradient-type update law is proposed for a class of parametric strict-feedback nonlinear systems. The main steps of the controller design for a class of nonlinear systems in parametric strict-feedback form are described. Then, the closed-loop error dynamics is shown to be globally stable by using the Lyapunov stability approach. Simulation results for a single-link flexible-joint robot manipulator are given to illustrate the performance of the proposed controller.