TY - GEN
T1 - Adaptive passivity-based nonlinear control for strict feedback form systems
AU - Seiler, Peter
AU - Alleyne, Andrew
N1 - Publisher Copyright:
© 2000 by ASME
PY - 2000
Y1 - 2000
N2 - This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). This paper also shows a comparison with a controller designed via Adaptive Backstepping with tuning functions. The Adaptive Backstepping Controller (ABC) has many additional coupling terms that make its design and implementation more complex and may also result in unwanted transients. On the other hand, the APBC has a convenient decoupling property that provides a diagnostic tool for detection of non-parametric model error.
AB - This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). This paper also shows a comparison with a controller designed via Adaptive Backstepping with tuning functions. The Adaptive Backstepping Controller (ABC) has many additional coupling terms that make its design and implementation more complex and may also result in unwanted transients. On the other hand, the APBC has a convenient decoupling property that provides a diagnostic tool for detection of non-parametric model error.
UR - http://www.scopus.com/inward/record.url?scp=85119862834&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85119862834&partnerID=8YFLogxK
U2 - 10.1115/IMECE2000-2340
DO - 10.1115/IMECE2000-2340
M3 - Conference contribution
AN - SCOPUS:85119862834
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 495
EP - 502
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000
Y2 - 5 November 2000 through 10 November 2000
ER -