Adaptive Controller and Observer Design for a Class of Nonlinear Systems
Tóm tắt
Design of a stable adaptive controller and observer for a class of nonlinear systems that contain product of unmeasurable states and unknown parameters is considered. The nonlinear system is cast into a suitable form based on which a stable adaptive controller and observer are designed using a parameter dependent Lyapunov function. The class of nonlinear systems considered is practically relevant; mechanical systems with dynamic friction fall into this category. Experimental results on a single-link mechanical system with dynamic friction are shown for the proposed design.
Từ khóa
Tài liệu tham khảo
Lüders, Stable Adaptive Schemes for State Estimation and Identification of Linear Systems, IEEE Trans. Autom. Control, 19, 841, 10.1109/TAC.1974.1100728
Kreisselmeier, Adaptive Observers With Exponential Rate of Convergence, IEEE Trans. Autom. Control, 22, 2, 10.1109/TAC.1977.1101401
Narendra, Stable Adaptive Control
Kristic, Nonlinear and Adaptive Control Design
Marino, Nonlinear Control Design—Geometric, Adaptive and Robust
Druzhinina, Adaptive Output Control Methods for Nonlinear Objects, Autom. Remote Control (Engl. Transl.), 57, 153
Krener, Locally Convergent Nonlinear Observers, SIAM J. Control Optim., 42, 155, 10.1137/S0363012900368612
Narendra, Persisent Excitation in Adaptive Systems, Int. J. Control, 45, 127, 10.1080/00207178708933715
Kazantzis, Nonlinear Observer Design Using Lyapunov’s Auxiliary Theorem, Syst. Control Lett., 34, 241, 10.1016/S0167-6911(98)00017-6
Krener, Linearization by Output Injection and Nonlinear Observers, Syst. Control Lett., 3, 47, 10.1016/0167-6911(83)90037-3
Bastin, Stable Adaptive Observers for Nonlinear Time-Varying Systems, IEEE Trans. Autom. Control, 33, 650, 10.1109/9.1273
Isidori, Nonlinear Control Systems
Marino, Adaptive Observers With Arbitrary Exponential Rate of Convergence for Nonlinear Systems, IEEE Trans. Autom. Control, 40, 1300, 10.1109/9.400471
Santosuosso, Global Adaptive Output Feedback Controllers With Application to Nonlinear Friction Compensation, Int. J. Adapt. Control Signal Process., 16, 619, 10.1002/acs.708
Yu, Nonlinear Adaptive Observer for a Parameter Affine Linearizable System, Proceedings of the 42nd IEEE Conference on Decision and Control
Ioannou, Robust Adaptive Control