BACKSTEPPING CONTROL TUTORIAL PDF

In control theory , backstepping is a technique developed circa by Petar V. Kokotovic and others [1] [2] for designing stabilizing controls for a special class of nonlinear dynamical systems. These systems are built from subsystems that radiate out from an irreducible subsystem that can be stabilized using some other method. Because of this recursive structure, the designer can start the design process at the known-stable system and "back out" new controllers that progressively stabilize each outer subsystem. The process terminates when the final external control is reached.

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Intelligence Computation and Evolutionary Computation pp Cite as. A nonlinear adaptive backstepping control approach is designed for a class of n-th order nonlinear systems. Support Vector Regression SVR is employed to adaptively approximate the unknown nonlinear functions composed of unknown uncertainties and disturbances.

The curse of dimensionality is avoided in comparison with defining a regular grid for the centers in classical radial basis function networks. The closed-loop system is guaranteed to be bounded and tracking errors are also proved to converge exponentially to a small residual set around the origin by Lyapunov theory.

Simulation results demonstrate the effectiveness of the approach proposed. Unable to display preview. Download preview PDF. Skip to main content. This service is more advanced with JavaScript available. Advertisement Hide.

Conference paper. This is a preview of subscription content, log in to check access. Nam, K. Labiod, S. Yucelen, T. Kanellakopoulos, I. Wang, C. Khalil, H. Kwan, C. Knohl, T. Schilling, R. Zhang, T. Niu, Y. Vapnik, V. Smola, A. Basak, D. Suykens, J. Shi, H. Farrell, J. Personalised recommendations. Cite paper How to cite? ENW EndNote.

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