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

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


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 BV
Number of pages9
ISBN (Electronic)9781614995210
Publication statusPublished - 2015
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
ISSN (Print)0922-6389
ISSN (Electronic)1879-8314


OtherInternational Conference on System Science and Engineering, ICSSE 2015


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

ASJC Scopus subject areas

  • Artificial Intelligence


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