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Robust adaptive control of a class of nonlinear first order systems

✍ Scribed by Bernard Brogliato; Alexandre Trofino-Neto; Rogelio Lozano

Publisher
Elsevier Science
Year
1992
Tongue
English
Weight
382 KB
Volume
28
Category
Article
ISSN
0005-1098

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✦ Synopsis

In this paper, we propose an adaptive controller for a class of first order nonlinear systems: ~ = -O*rf(x)b'u, subject to bounded input and output disturbances. Unmodelled dynamics are also considered in the stability analysis. A dead zone in the parameters update law is used. The dead zone size does not depend neither on the disturbances upperbounds nor on the magnitude of the unmodelled dynamics. Moreover, the disturbances and parameters upperbounds are not assumed to be a priori known.

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