Adaptive tracking control of uncertain SISO nonlinear systems

Author

Zwierzewicz, Zenon

Author_Institution

Dept. of Autom. & Robot., Szczecin Maritime Univ., Szczecin, Poland

fYear

2012

fDate

27-30 Aug. 2012

Firstpage

355

Lastpage

360

Abstract

In the paper we consider adaptive tracking control problem of a class of partially unknown, nonlinear systems in affine form. The proposed here output feedback linearizing controller plus parameter tuning law ensure asymptotic tracking via adaptive compensation of linearly parametrized model nonlinearities. A new feature is that this controller does not require multiple differentiation of the system output which could be problematic especially for the systems of higher relative degree.

Keywords

adaptive control; asymptotic stability; compensation; control system synthesis; feedback; linearisation techniques; multivariable control systems; nonlinear control systems; tracking; uncertain systems; adaptive compensation; adaptive tracking control problem; affine form; asymptotic tracking; control synthesis; linearly parametrized model nonlinearity; output feedback linearizing controller; parameter tuning law; partially unknown nonlinear system; uncertain SISO nonlinear systems; Adaptation models; Adaptive systems; Equations; Mathematical model; Nonlinear systems; Standards; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on

Conference_Location

Miedzyzdrojie

Print_ISBN

978-1-4673-2121-1

Type

conf

DOI

10.1109/MMAR.2012.6347863

Filename

6347863