Proceedings ArticleDOI
Adaptive nonlinear regulation: equation error from the Lyapunov equation
Jean-Baptiste Pomet,Laurent Praly +1 more
- pp 1008-1013
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TLDR
In this article, an adaptive controller for nonlinear, linearly parameterized systems is presented, where parameter estimation is performed on the scalar Lyapunov equation instead of the n-dimensional equation of the system itself.Abstract:
An adaptive controller for nonlinear, linearly parameterized systems is presented. The new features introduced in the design are: (1) parameter estimation is performed on the scalar Lyapunov equation instead of the n-dimensional equation of the system itself. This allows non-Lipschitz uncertainties to be tolerated, especially when the stabilizing laws are not feedback linearization plus linear control. (2) Double estimation is used. One estimate is used for the stabilizing control, and the other is used to cancel the perturbation terms introduced by the adaptation, if possible. This is proposed to solve the problem of the implicit definition of the controller which arises when one tries to do this cancellation. >read more
Citations
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Proceedings ArticleDOI
Systematic Design of Adaptive Controllers for Feedback Linearizable Systems
TL;DR: In this paper, a systematic procedure is developed for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems, which are transformable into the so-called pure-feedback form.
Journal ArticleDOI
Global adaptive output-feedback control of nonlinear systems. II. Nonlinear parameterization
Riccardo Marino,P. Tomei +1 more
TL;DR: A self-tuning version of the robust control capable of achieving set point regulation is developed in which the control gains are tuned by an output-feedback adaptive algorithm.
Proceedings ArticleDOI
Global adaptive output-feedback control of nonlinear systems
Riccardo Marino,P. Tomei +1 more
TL;DR: In this article, the problem of designing global adaptive controls for a class of single-input-single-output nonlinear systems which are linear with respect to the input and to an unknown constant parameter vector is addressed.
Journal ArticleDOI
An extended direct scheme for robust adaptive nonlinear control
TL;DR: The proposed adaptive scheme achieves regulation for a class of nonlinear systems with unknown constant parameters and unmodeled dynamics by an extended matching condition which is satisfied in many systems of practical importance, such as most types of electric motors.
Book ChapterDOI
Robust continuous-time adaptive control by parameter projection
TL;DR: In this paper, the adaptive control of a continuous-time plant of arbitrary relative degree, in the presence of bounded disturbances as well as unmodeled dynamics, is addressed, and the adaptation considered is the usual gradient update law with parameter projection, the latter being the only robustness enhancement modification employed.
References
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Book
Adaptive Control: Stability, Convergence and Robustness
S. Shankar Sastry,Marc Bodson +1 more
TL;DR: In this paper, the deterministic theory of adaptive control (AC) is presented in an introduction for graduate students and practicing engineers, with a focus on basic AC approaches, notation and fundamental theorems, identification problem, model-reference AC, parameter convergence using averaging techniques, and robustness.
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Liapunov redesign of model reference adaptive control systems
TL;DR: An alternative synthesis based on Liapunov's second method is suggested here, and is applied to the redesign of adaptive loops considered by some other authors who have all used the M.I.T.T, rule.
Journal ArticleDOI
Adaptive computed torque control for rigid link manipulators
TL;DR: In this paper, the adaptive control of rigid link manipulator systems is examined and linear estimation techniques together with a computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations.
Journal ArticleDOI
A model reference adaptive control scheme for pure-feedback nonlinear systems
Kwanghee Nam,A. Araposthathis +1 more
TL;DR: In this paper, a model reference adaptive control (MRAC) scheme for nonlinear systems in a pure-feedback canonical form with unknown parameters is presented, where the present of parameter uncertainty in the system causes imperfect linearization, i.e. it introduces nonlinear additive terms in the transformed coordinates.
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