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Adaptive Backstepping Control Using Combined Direct and Indirect \( \sigma \)–Modification Adaptation

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Recent Advances in Electrical Engineering and Control Applications (ICEECA 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 411))

Abstract

In this paper, by using the dynamic surface control technique, an adaptive backstepping controller using combined direct and indirect \( \sigma \)-modification adaptation is proposed for a class of parametric strict-feedback systems. In this approach, a \( \sigma \)-modification parameter adaptation law that combines direct and indirect update laws is proposed. At first, the \( x \)-swapping identifier with a gradient-type update law is presented for a class of parametric strict-feedback nonlinear systems. Next, the main steps of the controller design for a class of nonlinear systems in parametric strict-feedback form are described. The closed-loop error dynamics is shown to be globally stable by using the Lyapunov stability approach. Finally, simulation results for a single-link flexible-joint robot manipulator are given to illustrate the tracking performance of the proposed adaptive control scheme.

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Authors and Affiliations

  1. Research Center in Industrial Technologies CRTI (ex-CSC), P. O. Box. 64, Cheraga, 16014, Algiers, Algeria

    Y. Soukkou

  2. LAJ, Department of Automatic Control, University of Jijel, BP. 98, Ouled Aissa, Jijel, Algeria

    S. Labiod

Authors
  1. Y. Soukkou
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  2. S. Labiod
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Correspondence to Y. Soukkou .

Editor information

Editors and Affiliations

  1. MIS (EA 4290), Université de Picardie Jules Verne, Amiens, France

    Mohammed Chadli

  2. Laboratoire d'Automatique et de Robotiqu, Université Abbes Laghrour, Khenchela, Khenchela, Algeria

    Sofiane Bououden

  3. VŠB-Technical University of Ostrava , Ostrava ba, Czech Republic

    Ivan Zelinka

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Soukkou, Y., Labiod, S. (2017). Adaptive Backstepping Control Using Combined Direct and Indirect \( \sigma \)–Modification Adaptation. In: Chadli, M., Bououden, S., Zelinka, I. (eds) Recent Advances in Electrical Engineering and Control Applications. ICEECA 2016. Lecture Notes in Electrical Engineering, vol 411. Springer, Cham. https://doi.org/10.1007/978-3-319-48929-2_2

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  • DOI: https://doi.org/10.1007/978-3-319-48929-2_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48928-5

  • Online ISBN: 978-3-319-48929-2

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