An adaptive compensator for a class of linearly parameterized systems

Author

Huang, Jeng-Tze

Author_Institution

Dept. of Electron. Eng., Van Nung Inst. of Technol., Chungli, Taiwan

Volume

47

Issue

3

fYear

2002

fDate

3/1/2002 12:00:00 AM

Firstpage

483

Lastpage

486

Abstract

A compensation design for a class of linearly parameterized systems is presented. The compensator consists of a typical linearizing control and an adaptive observer for online estimation of the system´s parameters. The proposed method achieves the asymptotic stability of the tracking and estimation error dynamics, provided the basis functions in the regressor vector are linearly independent in terms of the desired system states. No persistent excitation and measurement of the highest derivatives of the system states are required. A numerical example is given to demonstrate the validity of the proposed design

Keywords

adaptive control; asymptotic stability; compensation; dynamics; linear systems; linearisation techniques; observers; servomechanisms; tracking; adaptive observer; asymptotic stability; basis function; compensation; linearizing control; linearly parameterized systems; parameter estimation; regressor vector; servo system; tracking; Adaptive control; Asymptotic stability; Control systems; Estimation error; Friction; Observers; Parameter estimation; Programmable control; Uncertainty; Vectors;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.989145

Filename

989145