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Adaptive control of pure-feedback systems with nonlinear parameterization via time-scale separation

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  • Control Theory and Applications
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Abstract

In this paper an adaptive control approach for completely non-affine pure-feedback systems with nonlinear parameterization is proposed. By using the parameter separation technique and coupling it effectively with combination of backstepping and time scale separation, a fast dynamical equation is derived from the original subsystem, where the solution is sought to approximate the corresponding ideal virtual/actual control input. In this approach, since designing state predictor to derive adaptation law of unknown parameters is omitted, our design is more accurate and less complex. The closed loop stability and the state regulation of nonlinear parameterization pure-feedback systems are all proved by new theorem in singular perturbation theory. Finally the simulation results are provided to demonstrate the effectiveness of the proposed approach.

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Authors and Affiliations

  1. School of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran

    Mehrnoosh Asadi & Heydar Toossian Shandiz

Authors
  1. Mehrnoosh Asadi
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  2. Heydar Toossian Shandiz
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Corresponding author

Correspondence to Mehrnoosh Asadi.

Additional information

Recommended by Associate Editor Yingmin Jia under the direction of Editor Ju Hyun Park. This journal was supported by the Korean Federation of Science and Technology Societies Grant.

Mehrnoosh Asadi received her B.S. and M.S. degrees in Electrical Engineering from Shiraz University, Shiraz, Iran, in 2006 and 2010, respectively and her Ph.D. degree in Electrical Engineering from Shahrood University of Technology, Shahrood, Iran in 2016. Her research interests include nonlinear control and application, adaptive control, and robotics.

Heydar Toossian Shandiz received the Ph.D. degree in Electrical Engineering from Umist University, Manchester, England in 2001. He is currently an associate professor in School of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran. His research interests include neural networks, adaptive control, and system identification.

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Asadi, M., Shandiz, H.T. Adaptive control of pure-feedback systems with nonlinear parameterization via time-scale separation. Int. J. Control Autom. Syst. 15, 196–204 (2017). https://doi.org/10.1007/s12555-015-0274-x

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  • DOI: https://doi.org/10.1007/s12555-015-0274-x

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