Systematic Design of Adaptive Controllers for Feedback Linearizable Systems

Abstract

A systematic procedure is developed for the design of adaptive regulation schemes for a class of feedback linearizable nonlinear systems. The coordinate-free geometric conditions, which characterize this class of systems, neither restrict the location of the unknown parameters, nor constrain in any way the growth of the nonlinearities. Instead, they require that the nonlinear system be transformable into the so-called pure-feedback form. This becomes now the broadest class of nonlinear systems for which an adaptive regulation scheme can be systematically designed. We also show that, under additional conditions, global stability properties can be established.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1990
Accession Number
ADA228739

Entities

People

  • A. Stephen Morse
  • Ioannis Kanellakopoulos
  • Petar V. Kokotovic

Organizations

  • University of Illinois Urbana–Champaign

Tags

DTIC Thesaurus Topics

  • Adaptive Systems
  • Air Force
  • Air Force Facilities
  • Classification
  • Closed Loop Systems
  • Control Systems
  • Control Systems Engineering
  • Control Theory
  • Engineering
  • Equations
  • Feedback
  • Illinois
  • Linear Systems
  • Lyapunov Functions
  • Nonlinear Systems
  • Security
  • Universities

Fields of Study

  • Mathematics

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.