Adaptive control of nonlinearly parameterized systems: the smooth feedback case
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- 7 November 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 47 (8) , 1249-1266
- https://doi.org/10.1109/tac.2002.800773
Abstract
Studies global adaptive control of nonlinearly parameterized systems with uncontrollable linearization. Using a parameter separation technique and the tool of adding a power integrator, we develop a feedback domination design approach for the explicit construction of a smooth adaptive controller that solves the problem of global state regulation. In contrast to the existing results in the literature, a key feature of our adaptive regulator is its minimum-order property, namely, no matter how big the number of unknown parameters is, the order of the dynamic compensator is identical to one, and is therefore minimal. As a consequence, global state regulation of feedback linearizable systems with nonlinear parameterization is achieved by one-dimensional adaptive controllers, without imposing any extra (e.g., convex/concave) conditions on the unknown parameters.Keywords
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