Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances | Zendy

Kazuya Sato | Zendy; Keigo Watanabe | Zendy; Masahiro Oya | Zendy; Toshihiro Kobayashi | Zendy

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Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances

Author(s) -

Kazuya Sato,

Keigo Watanabe,

Masahiro Oya,

Toshihiro Kobayashi

Publication year - 1998

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1998.p0158

Subject(s) - control theory (sociology) , bounded function , nonlinear system , simple (philosophy) , controller (irrigation) , adaptive control , upper and lower bounds , degree (music) , function (biology) , mathematics , computer science , control (management) , mathematical analysis , artificial intelligence , physics , philosophy , epistemology , quantum mechanics , evolutionary biology , acoustics , agronomy , biology

This paper describes simple adaptive control for plants with bounded nonlinear disturbances. The proposed controller is applicable to all plants whose relative degree is less than four, in which the upper bound of the high-frequency gain and the function type of disturbances must be known. Results of experiments demonstrate the controller’s effectiveness.

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