Title :
Adaptive nonlinear regulation: estimation from the Lyapunov equation
Author :
Pomet, Jean-Baptiste ; Praly, Laurent
Author_Institution :
Lab. d´´Autom. de Nantes, CNRS, France
fDate :
6/1/1992 12:00:00 AM
Abstract :
A stabilizing adaptive controller for a nonlinear system depending affinely on some unknown parameters is presented. It is assumed that this system is feedback stabilizable. A key feature of the method is the use of the Lyapunov equation to design the adaptive law. A result on local stability, two different conditions for global stability, and a local result where the initial conditions of the state of the system only are restricted are given
Keywords :
Lyapunov methods; adaptive control; feedback; nonlinear control systems; stability; Lyapunov equation; feedback stabilizable; global stability; local stability; nonlinear system; stabilizing adaptive controller; Adaptive control; Continuous-stirred tank reactor; Control systems; Linear feedback control systems; Manipulators; Nonlinear equations; Nonlinear systems; Programmable control; Robots; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on
