Title :
Robust adaptive control of nonlinear systems with convex input constraints: Case study on the magnetic levitation system
Author :
Satoh, Yasuyuki ; Nakamura, Hisakazu ; Nakamura, Nami ; Katayama, Hitoshi ; Nishitani, Hirokazu
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan
Abstract :
In this paper, we propose a control Lyapunov function (CLF)-based robust nonlinear adaptive controller for the magnetic levitation system. The proposed controller consists of a pre-feedback compensator with an adaptive control mechanism and a robust stabilizing controller. By using this controller, a gain margin for closed loop system is guaranteed. The effectiveness of the proposed controller is confirmed by experiments.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; feedback; magnetic levitation; nonlinear control systems; robust control; closed loop system; control Lyapunov function; convex input constraint; gain margin; magnetic levitation system; nonlinear system; pre-feedback compensator; robust stabilizing adaptive control; Adaptive control; Closed loop systems; Control systems; Information science; Lyapunov method; Magnetic levitation; Nonlinear control systems; Nonlinear systems; Robust control; Stability; Nonlinear control; adaptive control; control Lyapunov function (CLF); magnetic levitation system;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
