ADAPTIVE DYNAMIC SURFACE CONTROL - A SIMPLIFIED ALGORITHM FOR ADAPTIVE BACKSTEPPING CONTROL OF NONLINEAR-SYSTEMS

In this paper, we propose a new algorithm for adaptive backstepping co ntrol of non-linear uncertain systems. Current backstepping algorithms require repeated differentiations of the modelled non-linearities. Th e addition of n first order low pass filters allows the algorithms to be implemented without differentiating any model non-linearities. The uncertainties are assumed to be linear in the unknown constant paramet ers. The combined adaptive backstepping/first order filter system is p roven to be semi-globally stable for sufficiently fast filters by a si ngular perturbation approach.