Symbolic algebra toolbox for the design of dynamical adaptive backstepping controllers
Symbolic algebra toolbox for the design of dynamical adaptive backstepping controllers
- Author(s): M. Rios-Bolivar and A.S.I. Zinober
- DOI: 10.1049/ic:19971293
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- Author(s): M. Rios-Bolivar and A.S.I. Zinober Source: IEE Colloquium on Robust Control: Theory, Software and Applications, 1997 page ()
- Conference: IEE Colloquium on Robust Control: Theory, Software and Applications
The backstepping control design algorithms described by Krstic et al. (1995) provide a systematic framework for the design of regulating strategies suitable for large classes of nonlinear uncertain systems. However, the equations arising at the successive steps are usually too complicated to be computed by hand. We consider here a symbolic toolbox which implements a general algorithm for the design of dynamic adaptive controllers following the basic ideas of backstepping with tuning functions without transformation into canonical forms. This algorithm is applicable to observable minimum phase systems not necessarily in triangular form and also to uncertain nonlinear systems in triangular forms. Additionally the control can be generated by a sliding mode approach. (3 pages)
Inspec keywords: adaptive control; symbol manipulation; uncertain systems; control system CAD; algebra; nonlinear control systems
Subjects: Nonlinear control systems; Data handling techniques; Self-adjusting control systems; Control system design and analysis; Algebra; Algebra; Control system analysis and synthesis methods
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