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Control of Systems with Input Nonlinearities and Uncertainties: An Adaptive Approach
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2000 (English)Report (Other academic)
Abstract [en]

Although many of todays nonlinear control design algorithms assume the system dynamics to be affine in the control input, this often does not hold in practice. A remedy for this is to instead design acontrol law in terms of some other entity that satisfies the structural assumptions of the design method. In this contribution we discuss how to realize such a virtual control law in terms of the actual control variable. Given a nominal static invertible model of the mapping between the two, the true mapping is assumed to differ from the model by a constant bias. Two ways of how to estimate this bias on-line and use it for feedback are proposed. One of them corresponds to adaptive backstepping, the other one is an observer based approach. In both cases we investigate how to guarantee closed loop stability when the estimate is used for feedback.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2000. , 12 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2302
Keyword [en]
Control of systems with input non-linearities, Adaptive control, Lyapunov design, Non-linear observers
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55747ISRN: LiTH-ISY-R-2302OAI: oai:DiVA.org:liu-55747DiVA: diva2:316592
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-15Bibliographically approved

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Härkegård, OlaGlad, Torkel

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf