Experimental Validation of an Augmenting Approach to Adaptive Control of Uncertain Nonlinear Systems

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yang_gnc_2003_110.pdf (489.51 KB)
Author(s)
Yang, Bong-Jun
Hovakimyan, Naira
Calise, Anthony J.
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Daniel Guggenheim School of Aerospace Engineering
The Daniel Guggenheim School of Aeronautics was established in 1931, with a name change in 1962 to the School of Aerospace Engineering
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http://hdl.handle.net/1853/35918
Abstract
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.
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2003-08
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