SC 617 Adaptive Control Theory

Lecture 12 - 03/03/2015

Back Stepping and Non-CE method

Lecturer: Srikant Sukumar

Scribe: Srinath Dama

Double integral systems (Continued)

Consider the Double integrator system dynamics given as follows:

x 1 = x2 + f (x1 )
x 2 = u

(1)

1. Assuming is known
In order to design a controller for the above system we can use the classical backstepping design
approach. The control objective given as follows:
lim x1 0

lim x2 x2d

Where,
x2d = K1 x1 f (x1 )

(2)

1 2
x1
2
1
2
V2 = (x2 x2d )
2
V 2 = (x2 x2d )(u x 2d )

(3)

Consider V1 () and V2 () as follows:

V1 =

Consider the update law, u = x 2d K2 (x2 x2d ). Hence, the overall Lyapunov function is given as
follows:
V = V1 + V2
V = x1 x 1 K2 (x2 x2d )2
= x1 x2 + x1 f (x1 ) K2 (x2 x2d )

= x1 x2 + x1 (x2d K1 x1 ) K2 (x2 x2d )

1
1
2
(K1 )x1 2 (K2 )(x2 x2d )
2
2
V 0
2. Assuming is unknown
First control

(x1 )
x2d = K1 x1 f
if x2 = x2d
(x1 )
x 1 = K1 x1 + f
1

(4)

1 2
1 2
x1 +

2
2
1
V1 = x1 x 1

Let us take

V1 =

(x1 )) 1
= x1 (K1 x1 + f

1 f (x1 ) )
= K1 x1 2 + (x

= x1 f (x1 )
V1 K1 x1 2

First Update

Let us take

1
(x2 x2d )2
2
V 2 = (x2 x2d )(x 2 x 2d )

V2 =

u = x 2d K2 (x2 x2d )
x 2d = K1 x 1 x1 f 2 (x1 ) f(x1 )
= K1 (x2 + f (x1 )) x1 f 2 (x1 ) f(x1 )
f
)(x2 + f (x1 )) x1 f 2 (x1 )
= (K1 +
x1
f
)(x2 + f (x1 )) x1 f 2 (x1 )
x
2d = (K1 +
x1
f
= x 2d + f (x1 )(K1 +
)
x1
W here =

Let the overall Lyapunov function V = V1 + V2 , where, V1 () and V2 () are given as follows:
1 2
1 2
x1 +

2
2
1
1 2
V2 = (x2 x2d )2 +

2
2

V1 =

Therefore, V evaluated as follows:

second control

1
1
2d )
V = x1 x2 + x1 f (x1 ) x
1 f (x1 ) + (x2 x2d )(u x

u = x 2d K2 (x2 x2d )
f
= x 2d + f (x)(K1 +
)
x1
1 f (x1 ) K2 (x2 x2d )2
= x1 (x2 x2d ) + x1 x2d + x1 f (x1 ) x
f
1
+ (x2 x2d )f (x1 )(K1 +
)
x1 )

= K1 x1 2 K2 (x2 x2d )2 + x1 (x2 x2d )

0

Second update

f
= (x2 x2d )f (x1 )(K1 +
)
x1
2

Hence,by signal chasing we can prove x1 0, x2 0 and x2 x2d , x 2 x 2d

Creating an attractive set for parameter estimation error

Non-certainty Equivalence

(5)

x = ax + bu

(6)

Consider the scalar first order system

where, a, b are the unknown constants.

Control objective:
lim x(t) r(t) = 0

The error dynamics given as follows:

Let, 1 =

a
b

e = ax + bu r(t)

a
1

= b(u + x r(t))
b
b
and 2 = 1b . Reconsider the control law, u = 1 x 2 (Ke r)

1
a

e = Ke + b(u + x + (Ke r))

b
b
e = Ke + b([x, (Ke r)]
+ u)

Where, = [1 , 2 ]T and W = [x, (Ke r)].

The filters are given as follows:
e f = ef + e
f = Wf + W
W
u f = uf + u
e f = Kef + b(Wf + uf )
If non CE uf = Wf ( + )
Where - Dynamics and - static
e f = Kef + b(Wf Wf ( + ))
= Kef bWf ( + )
= Kef bWf Z

where Z = + , Z = + ,
= Wf T ef Sgn(b)

f T ef Sgn(b) + Wf T (Kef bWf Z)Sgn(b)

Z = + W
T

let = W f ef Sgn(b) + KWf T ef Sgn(b)

Z = | b | Wf T Wf ZSgn(b)

Consider the Lyapunov function V = Z2 +

e2f
2

V = Z Z + ef e f
= Z( | b | Wf T Wf Z) + ef (Kef bWf Z)
= | b | k Wf Z k2 Ke2f bef Wf Z
( | b |

b2
1
)kWf Zk2 (K )e2f
2
2

Likewise, signal chasing we can proove the following,

ef 0
Wf Z 0
e0