Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7109178 | Automatica | 2018 | 7 Pages |
Abstract
To overcome the drawback of overparametrization in existing nonlinear adaptive control design with multiple unknown control directions, we propose a new algorithm which combines nonlinear integrator backstepping, tuning function design and a logic-based switching mechanism that tunes the control directions online in a switching manner. Global asymptotic tracking control is achieved for parametric-strict-feedback systems without overparametrization. The logic-based switching criterion is based on monitoring incremental errors caused during two consecutive switching moments, and thus can identify the true control direction quickly.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Chao Huang, Changbin (Brad) Yu,