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State and Output Feedback Certainty Equivalence M‐MRAC for Systems with Unmatched Uncertainties
Author(s) -
Stepanyan Vahram,
Krishnakumar Kalmanje
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1099
Subject(s) - control theory (sociology) , parametric statistics , nonlinear system , equivalence (formal languages) , adaptive control , system identification , state (computer science) , mathematics , certainty , computer science , control engineering , control (management) , engineering , algorithm , measure (data warehouse) , artificial intelligence , statistics , physics , geometry , discrete mathematics , quantum mechanics , database
The paper presents a certainty equivalence indirect adaptive control design method for parametric strict feedback nonlinear systems of any relative degree with unmatched uncertainties in state and output feedback settings. The approach is based on the parameter identification (estimation) model, which is completely separated from the control design and is capable of producing parameter estimates as fast as the computing power allows. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters.