Journal ArticleDOI
Adaptive nonlinear regulation: estimation from the Lyapunov equation
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TLDR
In this paper, a stabilizing adaptive controller for a nonlinear system depending affinely on some unknown parameters is presented, where the adaptive law is designed using the Lyapunov equation.Abstract:
A stabilizing adaptive controller for a nonlinear system depending affinely on some unknown parameters is presented. It is assumed that this system is feedback stabilizable. A key feature of the method is the use of the Lyapunov equation to design the adaptive law. A result on local stability, two different conditions for global stability, and a local result where the initial conditions of the state of the system only are restricted are given. >read more
Citations
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Journal ArticleDOI
Systematic design of adaptive controllers for feedback linearizable systems
TL;DR: A systematic procedure for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems is developed, which substantially enlarges the class of non linear systems with unknown parameters for which global stabilization can be achieved.
Journal ArticleDOI
A robust adaptive nonlinear control design
TL;DR: The overall adaptive scheme is shown to guarantee global uniform ultimate boundedness.
Journal ArticleDOI
Adaptive neural network control for strict-feedback nonlinear systems using backstepping design
TL;DR: A smooth and singularity-free adaptive controller is designed for a first-order plant and an extension is made to high-order nonlinear systems using neural network approximation and adaptive backstepping techniques, guaranteeing the uniform ultimate boundedness of the closed-loop adaptive systems.
Journal ArticleDOI
Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
Bin Yao,Masayoshi Tomizuka +1 more
TL;DR: This paper considers the adaptive robust control of a class SISO nonlinear systems in a semi-strict feedback form and develops a systematic way to combine the backstepping adaptive control with deterministic robust control.
Journal ArticleDOI
Design of Robust Adaptive Controllers for Nonlinear Systems with Dynamic Uncertainties
Zhong-Ping Jiang,Laurent Praly +1 more
TL;DR: A modified adaptive backstepping design procedure is proposed for a class of nonlinear systems with three types of uncertainty: (i)unknown parameters; (ii)uncertain nonlinearities and (iii)unmodeled dynamics.
References
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Book
Feedback Systems: Input-output Properties
TL;DR: In this paper, the Bellman-Gronwall Lemma has been applied to the small gain theorem in the context of linear systems and convolutional neural networks, and it has been shown that it can be applied to linear systems.
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
Systematic design of adaptive controllers for feedback linearizable systems
TL;DR: A systematic procedure for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems is developed, which substantially enlarges the class of non linear systems with unknown parameters for which global stabilization can be achieved.
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.