Abstract
To overcome the drawback of overparametrization in existing nonlinear adaptive control design with multiple unknown control directions, we propose a new algorithm which combines nonlinear integrator backstepping, tuning function design and a logic-based switching mechanism that tunes the control directions online in a switching manner. Global asymptotic tracking control is achieved for parametric-strict-feedback systems without overparametrization. The logic-based switching criterion is based on monitoring incremental errors caused during two consecutive switching moments, and thus can identify the true control direction quickly.
| Original language | English |
|---|---|
| Pages (from-to) | 259-265 |
| Number of pages | 7 |
| Journal | Automatica |
| Volume | 89 |
| DOIs | |
| Publication status | Published - Mar 2018 |
| Externally published | Yes |