(Georgia Institute of Technology, 2003-08)
Yang, Bong-Jun; Hovakimyan, Naira; Calise, Anthony J.; Craig, James I.
A method of adaptive output feedback design for
uncertain nonlinear systems is presented. The development
is in a form that is suitable for augmenting a
linear controller. The approach is applicable to non-affine,
non-minimum phase systems having parametric
and dynamic uncertainties. A requirement is that the
non-minimum phase zeros are represented to a sufficient
accuracy in the linear controller design. The
approach has been experimentally validated using a
3-disk torsional pendulum and an inverted pendulum.
(Georgia Institute of Technology, 2003-06)
Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.
We consider the problem of adaptive output feedback
control in the presence of saturating input characteristic.
The adaptive control architecture augments an existing
linear control design. The approach is applicable
to non-affine, nonlinear systems with both parametric
uncertainty and unmodeled dynamics subject to input
saturation. Boundedness of signals is shown through
Lyapunov's direct method. Experimental results with
a 3-disk torsional pendulum are presented to demonstrate
the approach.