Design of Wavelet Adaptive Backstepping Controller for Uncertain Systems

Shun Feng Su, Ming Chang Chen, Yi Hsing Chien, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an adaptive wavelet backstepping controller for nonaffine nonlinear systems. The backstepping design scheme for the high order system has a complexity explosion problem that will lead the basis of virtual controller differentiation constantly. For solving this problem, this paper uses the first order filter at each sub-system of the backstepping controller. Moreover, the adaptive wavelet backstepping controller can approximate the linearization system through the mean value theorem, which is also used to avoid a higher order problem derived from Taylor linearization expansion. Finally, Lyapunov equation can guarantee the stability of the closed loop system. The simulation results are confirmed to illustrate the effectiveness and applicability of the proposed method.

Original languageEnglish
Title of host publicationNew Trends on System Sciences and Engineering - Proceedings of ICSSE 2015
EditorsHamido Fujita, Shun-Feng Su
PublisherIOS Press
Pages499-507
Number of pages9
ISBN (Electronic)9781614995210
DOIs
Publication statusPublished - 2015 Jan 1
EventInternational Conference on System Science and Engineering, ICSSE 2015 - Morioka, Japan
Duration: 2015 Jul 62015 Jul 8

Publication series

NameFrontiers in Artificial Intelligence and Applications
Volume276
ISSN (Print)0922-6389

Other

OtherInternational Conference on System Science and Engineering, ICSSE 2015
CountryJapan
CityMorioka
Period15/7/615/7/8

Keywords

  • Adaptive wavelet backstepping controller
  • first order filter
  • mean-value estimation method
  • nonaffine nonlinear system

ASJC Scopus subject areas

  • Artificial Intelligence

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  • Cite this

    Su, S. F., Chen, M. C., Chien, Y. H., & Wang, W. Y. (2015). Design of Wavelet Adaptive Backstepping Controller for Uncertain Systems. In H. Fujita, & S-F. Su (Eds.), New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015 (pp. 499-507). (Frontiers in Artificial Intelligence and Applications; Vol. 276). IOS Press. https://doi.org/10.3233/978-1-61499-522-7-499