Design and stability analysis of a variable structure adaptive backstepping controller |
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| Authors: | Kurios Queiroz Aldayr Araujo Samaherni Dias |
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| Affiliation: | 1. Academic Department of Industrial Technology, Federal Institute of Education, Science and Technology of Rio Grande do Norte (IFRN), Central Campus, Av. Sen. Salgado Filho, 1559, CEP 59015‐000, Tirol, Natal‐RN, Brazil;2. Department of Electrical Engineering, Federal University of Rio Grande do Norte (UFRN), Campus Universitário, Lagoa Nova, CEP 59072‐970, Natal‐RN, Brazil |
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| Abstract: | This paper presents the design and stability analysis of a Variable Structure Adaptive Backstepping Controller (VS‐ABC) for linear plants with relative degree one, using only input/output measurements. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are proposed to increase robustness to parametric uncertainties and disturbances, as well as to improve transient response. Moreover, the controller design is more intuitive when compared with the original adaptive backstepping controller, since the relay amplitudes are related to the plant nominal parameters and their respective uncertainties. Simplified algorithm versions are also presented, named Compact and Relay VS‐ABC, which reduce the practical implementation complexity, and encourage applications in industrial environments. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society |
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| Keywords: | Adaptive control robustness variable structure systems and adaptive backstepping controller |
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