Title :
On Dynamic Diffeomorphism for Feedback Linearizable Uncertain Systems
Author :
Ho-Lim Choi ; Koo, Min-Sung ; Lim, Jong-Tae
Author_Institution :
Intelligent Robotics Res. Center, Korea Adv. Inst. of Sci. & Technol., Seoul
Abstract :
A systematic procedure is presented to develop a new adaptive control scheme for a class of uncertain nonlinear systems to achieve asymptotic state regulation. Our new approach is to add an integrator-type function to a diffeomorphism to deal with parametric uncertainty in the system. Our approach does not explicitly require some existing geometrically restrictive conditions such as the triangularity, feedforward, or the parametric-strict-feedback conditions, etc
Keywords :
adaptive control; feedback; nonlinear systems; uncertain systems; adaptive control scheme; asymptotic state regulation; dynamic diffeomorphism; feedback linearizable uncertain system; integrator-type function; uncertain nonlinear system; Adaptive control; Backstepping; Control systems; Nonlinear control systems; Nonlinear systems; Robots; Robustness; State feedback; Uncertain systems; Uncertainty; Asymptotic state regulation; Dynamic diffeomorphism; Uncertain nonlinear system;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315414
