liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
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
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.
2001 (English)In: Proceedings of the 2001 European Control Conference, 2001, 1912-1917 p.Conference paper, Published paper (Refereed)
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
2001. 1912-1917 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-90815ISBN: 9789727520473 (print)OAI: oai:DiVA.org:liu-90815DiVA: diva2:616348
Conference
2001 European Control Conference, 4-7 September 2001, Porto, Portugal
Available from: 2013-04-16 Created: 2013-04-07 Last updated: 2015-06-16

Open Access in DiVA

No full text

Other links

Related report

Authority records BETA

Härkegård, OlaGlad, Torkel

Search in DiVA

By author/editor
Härkegård, OlaGlad, Torkel
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 36 hits
CiteExportLink to record
Permanent link

Direct link
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