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Adaptive control of non‐completely controlled mechanical systems using dynamic feedback linearization and estimation design
Author(s) -
Boustany F.,
D'AndréaNovel B.
Publication year - 1992
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480060606
Subject(s) - control theory (sociology) , overhead crane , feedback linearization , linearization , adaptive control , mechanical system , simple (philosophy) , computer science , inverted pendulum , pendulum , stability (learning theory) , mathematics , nonlinear system , control (management) , engineering , artificial intelligence , mechanical engineering , philosophy , physics , structural engineering , epistemology , quantum mechanics , machine learning
Abstract We propose here an indirect adaptive scheme for a class of non‐completely controlled mechanical systems comprising a classical manipulator terminated by a simple pendulum. In the case of known parameters a dynamic state feedback produces full linearization. An adaptive version is obtained by a simple estimation method together with a certainty equivalence law. Global stability is proved without growth conditions. Simulation results for an overhead crane are given.