Adaptive backstepping control of uncertain systems. Nonsmooth nonlinearities, interactions or time-variations (Q924182)

The book presents new methodologies for the design and analysis of adaptive control systems based on the backstepping approach. The emphasis is on dynamic uncertain systems with nonsmooth nonlinearities. The first part of the book is to introduce the backstepping design for state feedback control and output feedback control. A new strategy is proposed for a class of uncertain nonlinear systems with unknown time-varying parameters and unknown sign of high frequency gains in the presence of disturbances. The authors also develop a new backstepping control scheme for a class of multi-input multi-output nonlinear systems with respect to parameter uncertainty. In the last chapter of this part, decentralized adaptive stabilization of a class of interconnected systems is presented. In the second part of the book the authors consider systems with four types of component imperfections: backlash, dead-zone, hysteresis, and saturation. It is shown how these nonsmooth nonlinear characteristics can be adaptively compensated and how desired system performance is achieved by incorporating the backstepping technique. The proposed adaptive control schemes are shown to ensure stability of the resulting control system. With these schemes, system performances can be precisely characterized as functions of design parameters and thus is tunable in certain sense by designers. Each of these nonsmooth characteristics is considered individually and systematically. Finally, the results are applied to the control of base isolation mechanism and piezo-positioning mechanism.