期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2014
卷号：59
期号：2
出版社：Journal of Theoretical and Applied
摘要：Adaptive backstepping controller is designed for tracking purpose of nonlinear system with unknown parameter is injected to it. Gravitational search algorithm (GSA) is integrated with the designed controller in order to automatically tune its control parameters and adaptation gain since the tracking performance of the controller relies on these parameters. Performance evaluation is observed based on the tracking output and the tracking error between reference input and the system�s output. The effectiveness of the adaptive backstepping controller is verified by looking at the lowest amount value of Sum of Squared Error (SSE) attained from the simulation process. The results show that the system�s output follow the reference input given with remarkably small tracking error.
关键词：Adaptive Backstepping; Tracking Error; Gravitational Search Algorithm; Sum of Squared Error; Disturbance
