A Simplified Adaptive Robust Backstepping Approach using Sliding Modes and a z-Swapping Identifier

Jason J. Gorman, Kathryn W. Jablokow, David J. Cannon

Research output: Contribution to journalConference article

10 Scopus citations

Abstract

An adaptive robust backstepping approach using sliding modes and a z-swapping identifier is presented for a class of nonlinear parameter-varying systems. Each of the first n-1 virtual control inputs is designed using a zero-order sliding mode controller. Then, in the final step, a general sliding mode controller is used to stabilize the entire closed loop system. The parameter update law is designed using a gain adjusted exponential forgetting least-squares algorithm and a projection operator. The benefits of the approach include a reduction in the overcompensation of uncertainty, a simplification of the control law, and the ability to use linear design techniques to determine the system's transient performance.

Original languageEnglish (US)
Pages (from-to)5116-5122
Number of pages7
JournalProceedings of the American Control Conference
Volume6
StatePublished - Nov 7 2003
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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