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Indirect Adaptive Backstepping Control by Using the Virtual Controls Filtering

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2nd International Conference on Electro-Energy, ICEE2014 Skikda, Algeria, November, 10-11,2014

Indirect Adaptive Backstepping Control by Using the Virtual Controls Filtering

Y. Soukkou 1, S. Labiod 2 and A. Boutaghane 1

1 Welding and NDT Research Center (CSC), BP. 64, Cheraga, Algiers, Algeria

2 Laboratoire d’Automatique de Jijel (LAJ), Faculty of Science and Technology, BP. 98, Ouled Aissa, Jijel, Algeria soukkou_yassine@yahoo.fr; labiod_salim@yahoo.fr; a.boutaghane@csc.dz

ABSTRACT

In this paper, by using the dynamic surface control technique, an indirect adaptive backstepping controller based x-swapping identifier with a gradient-type update law is proposed for a class of parametric strict-feedback nonlinear systems. The main steps of the controller design for a class of nonlinear systems in parametric strict- feedback form are described. Then, the closed-loop error dynamics is shown to be globally stable by using the Lyapunov stability approach. Simulation results for a single-link flexible-joint robot manipulator are given to illustrate the performance of the proposed controller.

KEYWORDS

Backstepping control, adaptive control, dynamic surface control, Lyapunov stability, single-link flexible-joint robot.

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