14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract


Paper WeA1.3

Zhou, Jing (Nanyang Tech. Univ.), Wen, Changyun (Nanyang Tech. Univ.)

Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation

Scheduled for presentation during the Regular Session "Identification of Nonlinear Systems" (WeA1), Wednesday, March 29, 2006, 11:10−11:30, Concert Hall

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on July 17, 2018

Keywords Nonlinear System Identification, Identification for Control, Continuous Time System Estimation


In this paper, we present a new scheme to design adaptive controllers for uncertain nonlinear systems in the presence of input saturation. By using backstepping technique, a new robust adaptive control algorithm is developed. The developed controller does not require uncertain parameters within a known compact set. Besides showing global stability, transient performance is also established and can be adjusted by tuning certain design parameters.