Adaptive control for the discrete-time parametric-strict-feedback form (Q4459045)
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scientific article; zbMATH DE number 2062171
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| English | Adaptive control for the discrete-time parametric-strict-feedback form |
scientific article; zbMATH DE number 2062171 |
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Adaptive control for the discrete-time parametric-strict-feedback form (English)
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25 March 2004
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adaptive control
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parametric-strict-feedback form
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backstepping control
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tracking
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orthogonalization
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over-parameterization
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0.6996656060218811
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0.6987223625183105
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0.694081723690033
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0.6861978769302368
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0.685761034488678
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This paper develops a design for a state feedback controller for a class of nonlinear discrete-time systems usually referred to as parametric-strict-feedback systems. An adaptive control scheme is proposed and its performance is analyzed. The control objective is to achieve tracking of a reference signal. The author combines backstepping control with a parameter estimator that uses an orthogonalization process that overcomes the drawback of over-parameterization. Global boundedness and convergence are demonstrated, although the author indicates that there are potential issues of instability. The author's results do not include the effects of uncertainties such as those associated with unmodelled dynamics or external disturbances. Four examples are provided that illustrate the author's approach.
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