• DocumentCode
    487253
  • Title

    Adaptive Regulation of Nonlinear Systems with Unmodeled Dynamics

  • Author

    Taylor, D.G. ; Kokotovic, P.V. ; Marino, R. ; Kanellakopoulos, I.

  • Author_Institution
    Coordinated Science Laboratory, University of Illinois, Urbana, Illinois 61801, USA.
  • fYear
    1988
  • fDate
    15-17 June 1988
  • Firstpage
    360
  • Lastpage
    365
  • Abstract
    Conditions are given for global stability of an adaptive control law designed for the reduced order model of a class of higher order nonlinear plants. In the presence of unmodeled dynamics. which account for the difference between the model and the plant, the regulation property is preserved in a stability region. The size of the region is estimated via a set of bounds that not only proves robustness, but also allows a comparison between adaptive and nonadaptive nonlinear controls.
  • Keywords
    Adaptive control; Feedback; Laboratories; Manipulator dynamics; Nonlinear systems; Reduced order systems; Robots; Robust control; Stability; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1988
  • Conference_Location
    Atlanta, Ga, USA
  • Type

    conf

  • Filename
    4789744
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=487253