Title :
Robust and Adaptive Observer-Based Partial Stabilization for a Class of Nonlinear Systems
Author :
Efimov, Denis V. ; Fradkov, Alexander L.
Author_Institution :
Control of Complex Syst. Lab., Inst. for Problem of Mech. Eng., St. Petersburg, Russia
fDate :
7/1/2009 12:00:00 AM
Abstract :
The problem of adaptive stabilization with respect to a set for a class of nonlinear systems in the presence of external disturbances is considered. A novel adaptive observer-based solution for the case of noisy measurements is proposed. The efficiency of proposed solution is demonstrated via example of swinging a pendulum with unknown parameters.
Keywords :
adaptive control; nonlinear control systems; pendulums; robust control; adaptive observer; adaptive stabilization; external disturbances; noisy measurements; nonlinear systems; partial stabilization; pendulum; robust observer; Adaptive control; Control systems; Energy states; Laboratories; Mechanical engineering; Mechanical variables control; Nonlinear systems; Robustness; Stability; Trajectory; Adaptive control; nonlinearity; observers;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2015564
