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An Estimation Approach to Robust Adaptive Control of Uncertain Nonlinear Systems with Dynamic Uncertainties

Ahn, Choon-Ki   (School of Electrical Engineering, Korea UniversityUU0000159  ); Kim, Beom-Soo   (School of Electrical Engineering, Korea UniversityUU0000159  ); Lim, Myo-Taeg   (School of Electrical Engineering, Korea UniversityUU0000159  );
  • 초록

    In this paper, a novel estimation technique for a robust adaptive control scheme is presented for a class of uncertain nonlinear systems with a general set of uncertainty. For a class of introduced more extended semi-strict feedback forms which generalize the systems studied in recent years, a novel estimation technique is proposed to estimate the states of the fully nonlinear unmodeled dynamics without stringent conditions. With the introduction of powerful functions, the estimation error can be tuned to a desired small region around the origin via the estimator parameters. In addition, with some effective functions, a modified adaptive backstepping for dynamic uncertainties is presented to drive the output to an arbitrarily small region around the origin by an appropriate choice of the design parameters. With our proposed schemes, we can remove or relax the assumptions of the existing results.


  • 주제어

    State estimation technique .   dynamic uncertainties .   adaptive backstepping .   uncertain nonlinear systems .   unmodeled dynamics.  

  • 참고문헌 (20)

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    1. 2015 "상태추정 기술의 연구동향: 유한 임펄스 응답 필터를 중심으로" 전기의 세계 = The proceedings of KIEE 64 (12): 26~37    
    2. 2017 "그린 에너지 기술: 태양열, 파력, 지열 발전을 중심으로" 전기의 세계 = The proceedings of KIEE 66 (2): 8~13    
    3. 2017 "드론의 기술과 발전 동향 소개" 전기의 세계 = The proceedings of KIEE 66 (2): 19~23    
    4. 2017 "인공신경망 소개 및 발전 동향" 전기의 세계 = The proceedings of KIEE 66 (8): 36~41    
    5. 2018 "신재생 에너지 기술: 태양광 기술과 기후예측 기술과의 융합" 전기의 세계 = The proceedings of KIEE 67 (2): 19~25    
  • 김범수 (3)

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