Robust adaptive nonlinear regulation with dynamic uncertainties

Zhong Ping Jiang; David J. Hill

Robust adaptive nonlinear regulation with dynamic uncertainties

Zhong Ping Jiang
, David J. Hill

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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 language	English
Title of host publication	Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5)
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	3016-3021
Number of pages	6
Volume	3
Publication status	Published - 1997
Externally published	Yes
Event	IEEE Conference on Decision and Control 1997 - San Diego, United States of America Duration: 10 Dec 1997 → 12 Dec 1997 Conference number: 36th https://ieeexplore.ieee.org/document/657561 (Proceedings)

Conference

Conference	IEEE Conference on Decision and Control 1997
Abbreviated title	CDC 1997
Country/Territory	United States of America
City	San Diego
Period	10/12/97 → 12/12/97
Internet address	https://ieeexplore.ieee.org/document/657561 (Proceedings)

Cite this

@inproceedings{2e69804bdd384aa6bed9012d05f61377,

title = "Robust adaptive nonlinear regulation with dynamic uncertainties",

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.",

author = "Jiang, \{Zhong Ping\} and Hill, \{David J.\}",

year = "1997",

language = "English",

volume = "3",

pages = "3016--3021",

booktitle = "Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5)",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE Conference on Decision and Control 1997, CDC 1997 ; Conference date: 10-12-1997 Through 12-12-1997",

url = "https://ieeexplore.ieee.org/document/657561",

}

Robust adaptive nonlinear regulation with dynamic uncertainties. / Jiang, Zhong Ping; Hill, David J.
Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5). Vol. 3 IEEE, Institute of Electrical and Electronics Engineers, 1997. p. 3016-3021.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

TY - GEN

T1 - Robust adaptive nonlinear regulation with dynamic uncertainties

AU - Jiang, Zhong Ping

AU - Hill, David J.

N1 - Conference code: 36th

PY - 1997

Y1 - 1997

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0031379092

M3 - Conference Paper

AN - SCOPUS:0031379092

VL - 3

SP - 3016

EP - 3021

BT - Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5)

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE Conference on Decision and Control 1997

Y2 - 10 December 1997 through 12 December 1997

ER -

Robust adaptive nonlinear regulation with dynamic uncertainties

Abstract

Conference

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Cite this