One-Step Backstepping Design for Adaptive Output Feedback Control of Uncertain Nonlinear Systems
| Authors: | Mizumoto Ikuro, Kumamoto University, Japan
Michino Ryuji, Kumamoto University, Japan
Kumon Makoto, Kumamoto University, Japan
Iwai Zenta, Kumamoto University, Japan |
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| Topic: | 1.2 Adaptive and Learning Systems |
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| Session: | Adaptive and Learning Approaches to Controller Design |
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| Keywords: | Adaptive control, Output feedback, Uncertain nonlinear system, Backstepping, Parallel feedforward compensator |
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Abstract
In this paper, a novel one-step backstepping design scheme for an adaptive output feedback control of uncertain nonlinear system with a higher order relative degree and nonparametric uncertainties is proposed. The proposed method can design an output feedback based adaptive controller through a backstepping of only one step even when the controlled system has a higher order relative degree.
