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Adaptive Backstepping Control of Uncertain Systems - Nonsmooth Nonlinearities, Interactions or Time-Variations (Paperback, 2008 ed.)
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Adaptive Backstepping Control of Uncertain Systems - Nonsmooth Nonlinearities, Interactions or Time-Variations (Paperback, 2008 ed.)
Series: Lecture Notes in Control and Information Sciences, 372
Expected to ship within 10 - 15 working days
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This book presents new methodologies for the design and analysis of
adaptive control systems based on the backstepping approach. Our
emphasis is on - namic uncertain systems with nonsmooth
nonlinearities,such as backlash,de- zone, hysteresis and
saturation, or time-varying parameters, or interactions. The
backstepping approach, a recursive Lyapunov-based scheme, was p-
posed in the beginning of 1990s. With this method the construction
of feedback controllawsandLyapunovfunctions
issystematic,followingastep-by-stepal- rithm. Backstepping can be
used to relax the matching condition, which blocked the traditional
Lyapunov-based design. A major advantage of backstepping is that it
has the ?exibility to avoid cancellations of useful nonlinearities
and achieve regulation and tracking properties. The technique was
comprehensively addressed by Krstic, Kanellakopoulos and Kokotovic
in [1]. However, there is still no monograph available to address
problems such as the handling of n- smooth nonlinearities, time
varying parameters and system interactions using this approach.
Nonsmooth nonlinearities such as dead-zone, backlash, hysteresis
and satu- tion are common in industrial control systems, such as
mechanical, hydraulic, biomedical, piezoelectric, and physical
systems. Such nonlinearities are usually
poorlyknownandmayvarywithtime,andthey oftenlimitsystemperformance.
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