study of several problems in nonlinear control by backstepping
abstract
adaptive control is investigated for a class of nonlinearly parameterized systems by
backstepping. an adaptive controller is constructed for mimo nonlinearly parameterized
systems with nested triangular form. the design procedure is developed based on the
adaptive backstepping design technique. the designed controller guarantees that the
corresponding closed-loop system is globally asymptotically stable for any unknown
parameters which enter the system nonlinearly.
adaptive control problem is also investigated for mimo nonlinear dae systems with
unknown parameters appearing linearly in both differential and algebraic equations. the
dae system is converted into an equivalent ode system. an adaptive controller is
designed by the backstepping technique and the asymptotic stability o f the system is
guaranteed.
a parallel robotic system is studied as a test-bed to illustrate the backstepping control
approach. for comparison, pd control is also designed and implemented on the parallel
robot. the given simulation and experimental results are satisfactory for both
backstepping and pd control approaches.
collections
- retrospective theses [1604]