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Adaptive control of feedback linearizable systems: a modelling error compensation approach
Author(s) -
AlvarezRamírez José
Publication year - 1999
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199905)9:6<361::aid-rnc411>3.0.co;2-u
Subject(s) - control theory (sociology) , compensation (psychology) , nonlinear system , computer science , observer (physics) , stability (learning theory) , controller (irrigation) , state observer , dimension (graph theory) , adaptive control , high gain antenna , state (computer science) , control engineering , control (management) , mathematics , engineering , algorithm , artificial intelligence , psychology , psychoanalysis , physics , electrical engineering , quantum mechanics , machine learning , pure mathematics , agronomy , biology
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. Copyright © 1999 John Wiley & Sons, Ltd.