Adaptive controller and observer design for a class of nonlinear systems Academic Article

abstract

• Abstract 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 cast 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 fall into this category. Experimental results on a single-link mechanical system with dynamic friction are shown for the proposed design.

authors

• Pagilla, Prabhakar

published proceedings

• JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

author list (cited authors)

• Zhu, Y., & Pagilla, P. R.

citation count

• 7

complete list of authors

• Zhu, Yongliang||Pagilla, Prabhakar R

publication date

• September 2006

publisher

• ASME International  Publisher

published in

• Journal of Dynamic Systems Measurement and Control: Transactions of the ASME  Journal

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics And Robotics
• 4010 Engineering Practice And Education

Digital Object Identifier (DOI)

• 10.1115/1.2234489

start page

• 712

end page

• 717

volume

• 128

issue

• 3

URL

• http://dx.doi.org/10.1115/1.2234489