Nonlinear System Design: Adaptive Feedback Linearization with Unmodeled Dynamics
Abstract
The main goal of this research is to develop a unified geometric- asymptotic-adaptive methodology for feedback design of nonlinear control systems. Such a methodology is needed because the existing differential geometric results are restrictive and often violated by small modeling errors. Effects of these errors can be analyzed asymptotically by singular perturbation methods, which however, are still lacking a clear geometric interpretation. Neither geometric, nor perturbational problem formulations can cope with large parametric uncertainty, for which an adaptive approach seems suitable. Conversely, both geometric and asymptotic techniques are to be merged into a methodology which eliminates their individual shortcomings.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 30, 1991
- Accession Number
- ADA248484
Entities
People
- Peter V. Kokotovic
Organizations
- University of Illinois Urbana–Champaign