Design of Wavelet Adaptive Backstepping Controller for Uncertain Systems

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

doi:10.3233/978-1-61499-522-7-499

Design of Wavelet Adaptive Backstepping Controller for Uncertain Systems

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

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015
Editors	Hamido Fujita, Shun-Feng Su
Publisher	IOS Press
Pages	499-507
Number of pages	9
ISBN (Electronic)	9781614995210
DOIs	https://doi.org/10.3233/978-1-61499-522-7-499
Publication status	Published - 2015
Event	International Conference on System Science and Engineering, ICSSE 2015 - Morioka, Japan Duration: 2015 Jul 6 → 2015 Jul 8

Publication series

Name	Frontiers in Artificial Intelligence and Applications
Volume	276
ISSN (Print)	0922-6389

Other

Other	International Conference on System Science and Engineering, ICSSE 2015
Country/Territory	Japan
City	Morioka
Period	2015/07/06 → 2015/07/08

Keywords

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

ASJC Scopus subject areas

Artificial Intelligence

Access to Document

10.3233/978-1-61499-522-7-499

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

Design of Wavelet Adaptive Backstepping Controller for Uncertain Systems. / Su, Shun Feng; Chen, Ming Chang; Chien, Yi Hsing et al.
New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015. ed. / Hamido Fujita; Shun-Feng Su. IOS Press, 2015. p. 499-507 (Frontiers in Artificial Intelligence and Applications; Vol. 276).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Su, SF, Chen, MC, Chien, YH & Wang, WY 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. Frontiers in Artificial Intelligence and Applications, vol. 276, IOS Press, pp. 499-507, International Conference on System Science and Engineering, ICSSE 2015, Morioka, Japan, 2015/07/06. https://doi.org/10.3233/978-1-61499-522-7-499

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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.",

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N2 - 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.

AB - 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.

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Design of Wavelet Adaptive Backstepping Controller for Uncertain Systems

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