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Robust adaptive control for a class of partially known nonlinear systems

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20430

Robust adaptive control for a class of partially known nonlinear systems

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Title: Robust adaptive control for a class of partially known nonlinear systems
Author: Abdallah, Chaouki T.; Lewis, F. L.; Maliotis, G.
Subject: Adaptive control
Control systems
Convergence
Abstract: An adaptive controller is developed that takes advantage of the structure and any known dynamics of the system in order to increase speed of adaptation and relax the conditions required for convergence. The control design method has two stages. First, the known dynamics are separated out and used to perform a global linearization on the nonlinear system. Second, a model-reference adaptive control, based on the Lyapunov stability criterion, is designed for the remaining unknown portion of the plant. This control scheme is shown to relax several assumptions usually made in applying adaptive control to a manipulator system. For instance, it relaxes the common assumption that the time-varying plant is close to the desired model.
Date: 1988-12-07
Publisher: IEEE
Citation: Proceedings of the 27th IEEE Conference on Decision and Control, 1988, 3: 2425-2427
URI: http://hdl.handle.net/1928/20430


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