DocumentCode
488484
Title
Robust Adaptive Control of Multivariable Nonlinear Systems
Author
Gopalswamy, Swaminathan ; Hedrick, J. Karl
Author_Institution
Department of Mechanical Engineering, University of California, Berkeley
fYear
1990
fDate
23-25 May 1990
Firstpage
2247
Lastpage
2252
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4791131
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