Robust adaptive tracking with an additional plant identifier for a class of nonlinear systems |
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| Authors: | Boris Mirkin Per-Olof Gutman |
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| Institution: | a Faculty of Civil and Environmental Engineering, Technion - Israel Institute of Technology, Haifa 32000, Israel
b University of Alabama in Huntsville, 301 Sparkman Drive, Huntsville, AL 35899, USA |
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| Abstract: | In this paper, we develop two new model reference adaptive control (MRAC) schemes for a class of nonlinear dynamic systems that is robust with respect to an uncertain state (output) dependent nonlinear perturbations and/or external disturbances with unknown bounds. The design is based on a controller parametrization with an adaptive integral action. Two types of adaptive controllers are considered—the state feedback controller with a plant parameter identifier, and the output feedback controller with a linear observer. |
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| Keywords: | Model reference adaptive control Nonlinear systems SPR-Lyapunov design Identifier Stability |
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