Variable Structure Adaptive Backstepping Controller for plants with arbitrary relative degree based on modular design.
Kurios QueirozAldayr D. AraújoMarcus FernandesSamaherni M. DiasJosenalde B. OliveiraPublished in: ACC (2010)
Keyphrases
- variable structure
- adaptive control
- control law
- modular design
- nonlinear systems
- control strategy
- sliding mode
- closed loop
- control theory
- control system
- control method
- control algorithm
- optimal control
- control scheme
- stability analysis
- controller design
- feedback control
- adaptive fuzzy
- fuzzy control
- adaptive neural
- lyapunov function
- reinforcement learning
- dynamic environments
- robot manipulators
- dynamical systems
- inverted pendulum
- fuzzy logic
- sufficient conditions
- pid controller
- motion planning