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Adaptive control of feedback linearizable systems: a modelling error compensation approach

✍ Scribed by José Alvarez-Ramírez

Publisher
John Wiley and Sons
Year
1999
Tongue
English
Weight
168 KB
Volume
9
Category
Article
ISSN
1049-8923

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✦ Synopsis

An adaptive output feedback controller for single input feedback linearizable systems is proposed. The output derivatives are estimated with a state high-gain observer, and the matched uncertainties are handled using a modelling error compensation method. Compared with existing adaptive methods, this approach avoids overparameterizations yielding an (n#1)-order compensator, where n is the system dimension. Semiglobal stability is proven with the aid of existing results on the stability of controlled nonlinear systems with high-gain state observation.

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