TY - GEN
T1 - Adaptive compensation of control dependent modeling uncertainties using time-scale separation
AU - Lavretsky, Eugene
AU - Hovakimyan, Naira
PY - 2005
Y1 - 2005
N2 - For nonlinear systems with uncertain nonaffine-in-control dynamics, a direct adaptive model reference control design is proposed that augments a given baseline/nominal dynamic inversion controller. The proposed adaptive augmentation is computed online as a solution of a fast dynamical equation. Such a solution is shown to compensate for control dependent modeling uncertainties via time-scale separation. A simulation example which is motivated by aerospace applications illustrates the theoretical results.
AB - For nonlinear systems with uncertain nonaffine-in-control dynamics, a direct adaptive model reference control design is proposed that augments a given baseline/nominal dynamic inversion controller. The proposed adaptive augmentation is computed online as a solution of a fast dynamical equation. Such a solution is shown to compensate for control dependent modeling uncertainties via time-scale separation. A simulation example which is motivated by aerospace applications illustrates the theoretical results.
UR - http://www.scopus.com/inward/record.url?scp=33847231891&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33847231891&partnerID=8YFLogxK
U2 - 10.1109/CDC.2005.1582493
DO - 10.1109/CDC.2005.1582493
M3 - Conference contribution
AN - SCOPUS:33847231891
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 2230
EP - 2235
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -