Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method

Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method

This paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed-loop system ar...

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Main Authors: Farouk Zouari, Kamel Ben Saad, Mohamed Benrejeb
Format: Article
Language:English
Published: SAGE Publishing 2013-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/54932
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spelling doaj-8cecbc69ac494908ac7974171ea89dc92020-11-25T03:24:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-03-011010.5772/5493210.5772_54932Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping MethodFarouk Zouari0Kamel Ben Saad1Mohamed Benrejeb2 Unité de Recherche LARA-Automatique, Ecole Nationale d'Ingénieurs de Tunis, Université de Tunis El Manar, Tunis, Tunisia Unité de Recherche LARA-Automatique, Ecole Nationale d'Ingénieurs de Tunis, Université de Tunis El Manar, Tunis, Tunisia Unité de Recherche LARA-Automatique, Ecole Nationale d'Ingénieurs de Tunis, Université de Tunis El Manar, Tunis, TunisiaThis paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed-loop system are regularly bounded and the tracking errors converge to zero. The results are illustrated with simulation examples.https://doi.org/10.5772/54932
collection DOAJ
language English
format Article
sources DOAJ
author Farouk Zouari
Kamel Ben Saad
Mohamed Benrejeb
spellingShingle Farouk Zouari
Kamel Ben Saad
Mohamed Benrejeb
Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method
International Journal of Advanced Robotic Systems
author_facet Farouk Zouari
Kamel Ben Saad
Mohamed Benrejeb
author_sort Farouk Zouari
title Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method
title_short Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method
title_full Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method
title_fullStr Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method
title_full_unstemmed Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method
title_sort robust adaptive control for a class of nonlinear systems using the backstepping method
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-03-01
description This paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed-loop system are regularly bounded and the tracking errors converge to zero. The results are illustrated with simulation examples.
url https://doi.org/10.5772/54932
work_keys_str_mv AT faroukzouari robustadaptivecontrolforaclassofnonlinearsystemsusingthebacksteppingmethod
AT kamelbensaad robustadaptivecontrolforaclassofnonlinearsystemsusingthebacksteppingmethod
AT mohamedbenrejeb robustadaptivecontrolforaclassofnonlinearsystemsusingthebacksteppingmethod
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