Title :
Inverse optimal control of a nonlinear Euler-Lagrange system, part II: Output feedback
Author :
Dupree, K. ; Johnson, M. ; Patre, P.M. ; Dixon, W.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
Abstract :
Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically minimize a meaningful performance index while the generalized coordinates of a nonlinear Euler-Lagrange system asymptotically track a desired time-varying trajectory despite LP uncertainty. A Lyapunov analysis is provided to examine the stability of the developed output feedback optimal controller, and preliminary experimental results illustrate the performance of the controller.
Keywords :
Lyapunov methods; adaptive control; matrix algebra; nonlinear control systems; optimal control; state feedback; time-varying systems; uncertain systems; LP uncertainty; Lyapunov analysis; full state feedback IOAC; inverse optimal adaptive controllers; nonlinear Euler-Lagrange system; output feedback; time varying trajectory; uncertain time varying inertia matrix; Adaptive control; Control systems; Nonlinear control systems; Nonlinear systems; Optimal control; Output feedback; Performance analysis; Programmable control; Time varying systems; Uncertainty;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399758
