Title :
Adaptive feedback linearization of nonlinear MIMO systems using ES-MRAC
Author :
Haghi, Poorya ; Ariyur, Kartik B.
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
We present a novel approach to adaptation of nonlinear multi-input multi-output (MIMO) systems, in the existence of parametric uncertainties. We use feedback linearization to provide a stabilizing Model Reference Control (MRC). Next, we estimate the unknown parameters of the system, by optimizing a cost function based on the tracking error from MRC. We use extremum seeking (ES) to optimize the cost function.
Keywords :
MIMO systems; adaptive control; nonlinear control systems; optimal control; optimisation; parameter estimation; uncertain systems; ES-MRAC; MRC; adaptive feedback linearization; cost function optimisation; extremum seeking; model reference control stabilization; nonlinear MIMO system; nonlinear multiinput multioutput system; parametric uncertainty; unknown parameter estimation; Cost function; Equations; MIMO; Mathematical model; Nonlinear systems; Uncertainty; Vectors;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580101
