Title :
Adaptive actuator compensation control with feedback linearization
Author :
Ma, Xiaoli ; Tao, Gang
Author_Institution :
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
An adaptive inverse controller is developed for feedback linearizable nonlinear systems with nonsmooth actuator nonlinearities such as a dead-zone characteristic. The use of an actuator nonlinearity inverse and a feedback linearizing controller leads to an error equation suitable for deriving an adaptive update law for the inverse. Closed-loop signal boundedness is proved and system performance improvement is shown by simulation results
Keywords :
adaptive control; compensation; control nonlinearities; feedback; linearisation techniques; nonlinear control systems; adaptive actuator compensation control; adaptive inverse controller; adaptive update law; closed-loop signal boundedness; dead-zone characteristic; error equation; feedback linearizable nonlinear systems; nonsmooth actuator nonlinearities; Adaptive control; Control nonlinearities; Control systems; Error correction; Hydraulic actuators; Linear feedback control systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Programmable control;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.833377
