Adaptive Controller and Observer Design for a Class of Nonlinear Systems
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Design of a stable adaptive controller and observer for a class of nonlinear systems that contain product of unmeasurable states and unknown parameters is considered. The nonlinear system is cant into a suitable form based on which a stable adaptive controller and observer are designed using a parameter dependent Lyapunov function. The class of nonlinear systems considered is practically relevant; mechanical systems with dynamic friction full into this category. Experimental results on a single-link mechanical system with dynamic friction are shown for the proposed design. Copyright © 2006 by ASME.
author list (cited authors)
Zhu, Y., & Pagilla, P. R.