Maple Design of Dynamical Sliding Adaptive Backstepping Controllers

Abstract

BACK, a Maple symbolic algebra package, is described for the design of dynamical adaptive nonlinear controllers for regulation and tracking tasks of a class of observable minimum phase uncertain nonlinear systems. This package also allows the design of non-adaptive controllers for systems without uncertainty, and adaptive sliding mode controllers (SMC) of first and second order, to provide robustness in the presence of disturbances. The design procedure employs the basic ideas of the adaptive backstepping algorithm with tuning functions via input-output linearization, and is applicable to both triangular and nontriangular systems. Recent algorithms developed for semi-strict nonlinear systems with disturbances, have been included.