Redesign of backstepping for robustness against unmodelled dynamics

DOI10.1002/RNC.620zbMath0981.93067OpenAlexW2055237469MaRDI QIDQ2730990

Arcak, Murat, Petar V. Kokotovic

Publication date: 1 November 2001

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.620

zbMATH Keywords

robust stabilizationbacksteppingunmodelled dynamicsminimum phaserelative degree zerorobust re-designs

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Perturbations in control/observation systems (93C73) Adaptive or robust stabilization (93D21)

Related Items (3)

High‐order robust command filtered backstepping design for strict‐feedback systems: A high‐order fully actuated system approach ⋮ Robust control for uncertain nonlinear systems with state-dependent control direction ⋮ High-order fully actuated system approaches: Part III. Robust control and high-order backstepping

Cites Work

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• Design of `softer' robust nonlinear control laws
• Robust stabilization of feedback linearizable time-varying uncertain nonlinear systems
• Stabilization in spite of matched unmodeled dynamics and equivalent definition of input-to-state stability
• Robustification of backstepping against input unmodeled dynamics
• A small-gain control method for nonlinear cascaded systems with dynamic uncertainties
• Systematic design of adaptive controllers for feedback linearizable systems
• Smooth stabilization implies coprime factorization
• Changing supply functions in input/state stable systems
• Robust control of nonlinear systems with input unmodeled dynamics

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