Adaptive control of pure-feedback systems with nonlinear parameterization via time-scale separation

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• 作者：Mehrnoosh Asadi ; Heydar Toossian Shandiz
• 关键词：Non ; affine ; nonlinear parameterization ; pure ; feedback systems ; parameter separation ; time scale separation
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：15
• 期：1
• 页码：196-204
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics;
• 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
• ISSN：2005-4092
• 卷排序：15

文摘

In this paper an adaptive control approach for completely non-affine pure-feedback systems with nonlinear parameterization is proposed. By using the parameter separation technique and coupling it effectively with combination of backstepping and time scale separation, a fast dynamical equation is derived from the original subsystem, where the solution is sought to approximate the corresponding ideal virtual/actual control input. In this approach, since designing state predictor to derive adaptation law of unknown parameters is omitted, our design is more accurate and less complex. The closed loop stability and the state regulation of nonlinear parameterization pure-feedback systems are all proved by new theorem in singular perturbation theory. Finally the simulation results are provided to demonstrate the effectiveness of the proposed approach.