Title :
Robust Adaptive Control of Multivariable Nonlinear Systems
Author :
Gopalswamy, Swaminathan ; Hedrick, J. Karl
Author_Institution :
Department of Mechanical Engineering, University of California, Berkeley
Abstract :
A robust adaptive control law for multivariable nonlinear systems is presented. All constant parameters that can be linearly parametrized in the input-output dynamic equation are adaptively estimated, and uncertainties in all the other terms are accounted for by appropriate choice of sliding gains. Appropriate projection rules are developed to ensure invertibility of the input-output dynamics.
Keywords :
Adaptive control; Control systems; Mechanical engineering; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Robust control; State-space methods; Uncertainty;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
