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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書目詳細資料
主要作者: Phang, Wei Zhan
其他作者: Wen Changyun
格式: Final Year Project
語言:English
出版: Nanyang Technological University 2021
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在線閱讀:https://hdl.handle.net/10356/149849
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機構: Nanyang Technological University
語言: English
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總結: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.