Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems

Authors:
  • PYP. Patrick Yip
    P. Patrick Yip
  • JHJ. Karl Hedrick
    J. Karl Hedrick
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Abstract
In this paper, we propose a new algorithm for adaptive backstepping control of non-linear uncertain systems. Current backstepping algorithms require repeated differentiations of the modelled non-linearities. The addition of n first order low pass filters allows the algorithms to be implemented without differentiating any model non-linearities. The uncertainties are assumed to be linear in the unknown constant parameters. The combined adaptive backstepping/first order filter system is proven to be semi-globally stable for sufficiently fast filters by a singular perturbation approach.