Adaptive robust control of mechanical systems with non-linear dynamic friction compensation
β Scribed by Xu, L.; Yao, B.
- Book ID
- 115483325
- Publisher
- Taylor and Francis Group
- Year
- 2008
- Tongue
- English
- Weight
- 464 KB
- Volume
- 81
- Category
- Article
- ISSN
- 0020-7179
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π SIMILAR VOLUMES
We show that an adaptive input/output feedback linearization control scheme for minimum phase nonlinear systems is robust with respect to unstructured plant uncertainties such as unmodelled dynamics and disturbances provided that the adaptive law is modified in the same fashion as for linear systems
## Abstract In this paper, we consider a class of nonβlinear systems in which a set of constant parameters is unknown and some state variables are not available for measurement. For such systems we provide a constructive procedure for the solution of the global adaptive tracking problem with dynami