Redesign of backstepping for robustness against unmodelled dynamics
In the recent literature there have been several approaches designed to make backstepping control laws robust against linear unmodelled dynamics at the input of a plant. Adaptive backstepping achieves global stabilization in the presence of unknown parameters. Robust backstepping is designed for systems with disturbances. A dynamic normalization method uses a special signal to counteract the destabilizing effect of the unmodelled dynamics. Other approaches to robust re-designs of backstepping make assumptions of small gain or strict passivity.NEWLINENEWLINENEWLINEThis paper offers a re-design of backstepping which requires the unmodelled dynamics subsystem to be relative degree zero and minimum phase. The authors prove that the closed-loop solution converges to a ball around the origin whose radius can be made arbitrarily small by increasing the controller gain. They provide a numerical example that shows that the relative degree zero and minimum phase conditions cannot be relaxed.
- Robustification of backstepping against input unmodeled dynamics
- Robust nonlinear control of systems with input unmodeled dynamics
- Robustness of an adaptive backstepping controller without modification
- Adaptive control of uncertain nonlinear systems using mixed backstepping and Lyapunov redesign techniques
- A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics
- A small-gain control method for nonlinear cascaded systems with dynamic uncertainties
- Changing supply functions in input/state stable systems
- Design of `softer' robust nonlinear control laws
- scientific article; zbMATH DE number 475572 (Why is no real title available?)
- Robust control of nonlinear systems with input unmodeled dynamics
- Robust stabilization of feedback linearizable time-varying uncertain nonlinear systems
- Robustification of backstepping against input unmodeled dynamics
- Smooth stabilization implies coprime factorization
- Stabilization in spite of matched unmodeled dynamics and equivalent definition of input-to-state stability
- Systematic design of adaptive controllers for feedback linearizable systems
- Robustness of an adaptive backstepping controller without modification
- Robustification of backstepping against input unmodeled dynamics
- Robust control for uncertain nonlinear systems with state-dependent control direction
- Locally optimal and robust backstepping design
- High-order fully actuated system approaches. III: Robust control and high-order backstepping
- High‐order robust command filtered backstepping design for strict‐feedback systems: A high‐order fully actuated system approach
- An LMI backstepping generalization via \(\mathcal{H}_\infty\) dynamic control and Takagi-Sugeno models
- Robust adaptive \(H_{\infty}\) tracking control for nonlinear strict-feedback system via actor-critic-disturbance learning: a zero-sum game-based approach
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