Structured adaptive control for poorly modeled nonlinear dynamical systems Academic Article uri icon


  • Model reference adaptive control formulations are presented that rigorously impose the dynamical structure of the state space descriptions of several distinct large classes of dynamical systems. Of particular interest, the formulations enable the imposition of exact kinematic differential equation constraints upon the adaptation process that compensates for model errors and disturbances at the acceleration level. Other adaptive control formulations are tailored for redundantly actuated and constrained dynamical systems. The utility of the resulting structured adaptive control formulations is studied by considering examples from nonlinear oscillations, aircraft control, spacecraft control, and cooperative robotic system control. The theoretical and computational results provide new insights and provide a basis for optimism regarding practical adoption of adaptive control methodology in advanced implementations.

author list (cited authors)

  • Junkins, J. L., Subbarao, K., & Verma, A.

publication date

  • December 2000