Adaptive backstepping with parameter projection: Robustness and asymptotic performance

作者：Ikhouane F; Krstic M^*

来源：Automatica, 1998, 34(4): 429-435.

DOI：10.1016/S0005-1098(97)00184-2

• robust adaptive control
• projection
• tuning functions
• backstepping

We employ parameter projection to improve robustness of the adaptive backstepping design with tuning functions. However, since projection is not compatible with the existing recursive procedure, we also propose a controller modification which enables the use of projection in backstepping designs. The following robustness properties are achieved. When the relative degree of the linear system equals that of the model, the closed loop signals are globally uniformly bounded. If this condition is not verified then the region of attraction of the closed loop system is shown to be inversely proportional to the "size" of the unmodeled dynamics. In both cases, the tracking error is shown to be proportional to the size of the uncertainties.

• 出版日期1998-4