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Adaptive backstepping with a high-order tuner

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Publication Date
Volume
37
Issue
12
Identifiers
DOI: 10.1016/s0005-1098(01)00171-6
Keywords
  • Adaptive Control
  • High-Order Tuners
  • Adaptive Backstepping
Disciplines
  • Design

Abstract

Abstract The paper proposes a new type of adaptive backstepping design. At each step of the design procedure a virtual control directly counteracts the transients of adjustable parameters, while the time derivatives of these parameters up to the desired order are generated by a special adaptation law (high-order tuner) defined at the final step. Thus, the proposed approach combines adaptive backstepping with high-order tuners. The resultant control law does not involve tuning functions and, at the same time, is free of overparametrization.

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