Robust adaptive nonlinear regulation with dynamic uncertainties

Zhong-Ping Jiang, David J. Hill

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 non-linearities and unmeasured input-to-state stable dynamics. In contrast to [4, 5, 6], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
PublisherIEEE
Pages3016-3021
Number of pages6
Volume3
StatePublished - 1997
EventProceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA
Duration: Dec 10 1997Dec 12 1997

Other

OtherProceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5)
CitySan Diego, CA, USA
Period12/10/9712/12/97

Fingerprint

Backstepping
Pendulums
Velocity measurement
Uncertainty

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Jiang, Z-P., & Hill, D. J. (1997). Robust adaptive nonlinear regulation with dynamic uncertainties. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 3016-3021). IEEE.

Robust adaptive nonlinear regulation with dynamic uncertainties. / Jiang, Zhong-Ping; Hill, David J.

Proceedings of the IEEE Conference on Decision and Control. ed. / Anon. Vol. 3 IEEE, 1997. p. 3016-3021.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jiang, Z-P & Hill, DJ 1997, Robust adaptive nonlinear regulation with dynamic uncertainties. in Anon (ed.), Proceedings of the IEEE Conference on Decision and Control. vol. 3, IEEE, pp. 3016-3021, Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5), San Diego, CA, USA, 12/10/97.
Jiang Z-P, Hill DJ. Robust adaptive nonlinear regulation with dynamic uncertainties. In Anon, editor, Proceedings of the IEEE Conference on Decision and Control. Vol. 3. IEEE. 1997. p. 3016-3021
Jiang, Zhong-Ping ; Hill, David J. / Robust adaptive nonlinear regulation with dynamic uncertainties. Proceedings of the IEEE Conference on Decision and Control. editor / Anon. Vol. 3 IEEE, 1997. pp. 3016-3021
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