Adaptive Backstepping Control That Is Equivalent to Tuning Functions Design

摘要

In this paper, we present a new adaptive backstepping control design method to solve the over-parametrization problem in parameter estimation. Unlike the existing schemes, the concept of tuning functions is not introduced. However, the number of parameter estimates is reduced to be minimal, which is exactly the same as that of unknown parameters. Subsequently, it is shown that the proposed control schemes are equivalent to the tuning functions design. Two class of common nonlinear systems, that is, parametric strict-feedback system and parametric output-feedback system are employed to illustrate our design procedure.