شماره ركورد كنفرانس :
3222
عنوان مقاله :
Immersion and Invariance Adaptive Control of a Class of Nonlinear Systems with Unknown Control Direction
پديدآورندگان :
Monfared Omid School of Electrical and Computer Engineering - Shiraz University , Khayatian Alireza School of Electrical and Computer Engineering - Shiraz University , Mahzoon Mojtaba School of Electrical and Computer Engineering - Shiraz University , Karimaghaee Paknosh School of Electrical and Computer Engineering - Shiraz University
كليدواژه :
Immersion , Invariance Adaptive Control , Class of Nonlinear , Unknown Control Direction
عنوان كنفرانس :
دومين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
The goal of this paper is to extend the adaptive control problem of parametric strict feedback form nonlinear
systems, using Immersion and Invariance to the case of unknown, possibly, time-varying control direction. The idea is to
immerse a target system in Rn1, which is stabilized through the design of virtual controllers into an extended system in
Rn+p. The designed controller takes advantage of the wellknown Nussbaum functions to deal with the unknown sign of
input multiplier and is designed through the manifold dynamic belonged to Rp+1. The effectiveness of the proposed method is shown through simulation and is also compared to the classical adaptive backstepping approach with unknown control direction.
