Abstract
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.
| Original language | English (US) |
|---|---|
| Title of host publication | Dynamic Systems and Control |
| Subtitle of host publication | Volume 1 |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Pages | 495-502 |
| Number of pages | 8 |
| ISBN (Electronic) | 9780791826645 |
| DOIs | |
| State | Published - 2000 |
| Externally published | Yes |
| Event | ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 - Orlando, United States Duration: Nov 5 2000 → Nov 10 2000 |
Publication series
| Name | ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) |
|---|---|
| Volume | 2000-N |
Conference
| Conference | ASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 |
|---|---|
| Country/Territory | United States |
| City | Orlando |
| Period | 11/5/00 → 11/10/00 |
Bibliographical note
Publisher Copyright:© 2000 by ASME