Indirect adaptive nonlinear control
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2414-2415 vol.3
- https://doi.org/10.1109/cdc.1988.194773
Abstract
The authors consider how to make a nonlinear control law adaptive. Assuming that the uncertainties interfere linearly, they answer this question for a certain class of systems. In particular, they propose an estimation-based adaptive controller with corrective terms for more general families than robot arms. Assuming some structural properties, they obtain global convergence under far less restrictive growth assumptions than previously.<>Keywords
This publication has 2 references indexed in Scilit:
- Adaptive regulation of nonlinear systems with unmodeled dynamicsIEEE Transactions on Automatic Control, 1989
- Adaptive computed torque control for rigid link manipulationsSystems & Control Letters, 1988