Adaptive backstepping control
Sliding mode control (as a robust control design method) and adaptive backstepping (as an adaptive control design method) are used by the authors of this paper to design a control law for a class of nonlinear continuous systems with disturbances and uncertainty. The class of nonlinear systems considered here are those that satisfy certain observability and minimum phase conditions. These include parametric semi-strict feedback systems. The authors illustrate their approach with an example of a robot having a flexible joint. For the entire collection see [Zbl 0994.00022].
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- scientific article; zbMATH DE number 933359 (Why is no real title available?)
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