Title :
Robust adaptive control of nonlinear systems with unmodeled dynamics
Author :
Aloliwi, Bader ; Khalil, Hassan K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
In a previous work (1997), we designed a robust adaptive output feedback controller for a single-input-single-output minimum phase nonlinear systems. A Lyapunov based design, with control saturation, parameter projection and a high-gain observer, was shown to achieve semiglobal tracking. That work dealt with bounded disturbance. In this work, we consider the same class of systems with both bounded disturbance and unmodeled dynamics
Keywords :
Lyapunov methods; adaptive control; closed loop systems; control system synthesis; feedback; nonlinear control systems; robust control; Lyapunov based design; control saturation; high-gain observer; parameter projection; robust adaptive control; semiglobal tracking; unmodeled dynamics; Adaptive control; Control systems; Differential equations; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Programmable control; Robust control; Robustness;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757911
