Title :
Adaptive λ-tracking for nonlinear systems with higher relative degree
Author :
Bullinger, Eric ; Allgöwer, Frank
Author_Institution :
Inst. fur Systemtheorie technischer Prozesse, Stuttgart Univ., Germany
Abstract :
Previous results for adaptive λ-tracker have focused on nonlinear systems with relative degree one or on linear systems with higher relative degree. We extend the adaptive λ-tracker to λ-stabilize nonlinear system with higher relative degree. Only little structural information about the system to be controlled is needed. λ-stability and convergence of the adaptation is proven for tracking a large class of reference trajectories. The design of the controller is very simple and intuitive, only few parameters have to be tuned
Keywords :
adaptive control; control system synthesis; convergence; nonlinear control systems; tracking; λ-stability; adaptive λ-tracking; structural information; Adaptive control; Control systems; Convergence; Error correction; Linear systems; Noise robustness; Nonlinear control systems; Nonlinear systems; Programmable control; Robust stability;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914682
