Modular Adaptive Backstepping Design With a High-Order Tuner

• 成果类型: Article
• 署名作者: Nikiforov, Vladimir; Gerasimov, Dmitry; Pashenko, Artem
• 署名单位: ITMO University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3091442
• 发表日期: 2022
• 页码: 2663-2668
• 关键词: Adaptive backstepping; high-order tuner; improved parametric convergence

摘要

This article addresses the problem of transient performance improvement in adaptive backstepping design. A new modular design with a high-order tuner providing complete compensation of the adjustable parameters' time variations is proposed. The L-infinity performance bound for the state error is derived and verifies a better transient performance of the proposed controller compared to the known ones designed based on tuning functions and modular approach with first-order tuners.