Adaptive backstepping control for a class of nonlinear systems with non triangular structural uncertainties
A robust adaptive control is designed in this report by utilizing backstepping technique for a class of nonlinear systems with non-triangular structural uncertainties. Given a known function, the modelling error can be estimated at different points on the system which can be handled by mathematical...
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| Format: | Final Year Project |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/149849 |
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| Summary: | A robust adaptive control is designed in this report by utilizing backstepping technique for a class of nonlinear systems with non-triangular structural uncertainties. Given a known function, the modelling error can be estimated at different points on the system which can be handled by mathematical equations. Adaptive backstepping control ensures system to stabilize with a closed-loop bounded output. On top of that, transient performance is carefully monitored to produce desired outcome. Systems with non-triangular structural uncertainties are addressed by simulations to prove the successfulness of adaptive backstepping control. |
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