Adaptive stable backstepping controller based on support vector regression for nonlinear systems

In this paper, a novel adaptive stable backstepping controller(BSC) based on support vector regression (SVR) has been introduced for nonlinear dynamical systems. Stable BSC is designed over Lyapunov stability of the closed-loop system. The nonlinear system dynamics required to constitute the BSC architecture are identified via SVR. The prediction competency of SVR and the stable behavior of BSC are aggregated in this architecture for nonlinear systems. The performance evaluation of the proposed adaptive BSC has been examined on a nonlinear inverted pendulum(IP) and a nonlinear mass-spring-damper(NMSD) system. The acquired results provide a successful and stable BSC control performance for both nonlinear systems.

Automated summary

This paper introduces a novel adaptive stable backstepping controller based on support vector regression for nonlinear dynamical systems. The controller utilizes SVR to identify the dynamics of the nonlinear system and integrates stable BSC behavior. The experimental results demonstrate successful control performance for both nonlinear systems.