Abstract
This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control dynamical systems. Online approximation of the adaptive dynamic inversion controller is performed using time-scale separation. The resulting control signal is sought as a solution of a "fast" dynamical equation, which inverts a series parallel model, whose state is shown to track the state of the original nonaffine-in-control system. Numerically verifiable sufficient conditions on the system parameters are given. A simulation example illustrates the theoretical results.
| Original language | English (US) |
|---|---|
| Article number | FrA05.2 |
| Pages (from-to) | 3548-3553 |
| Number of pages | 6 |
| Journal | Proceedings of the American Control Conference |
| Volume | 5 |
| State | Published - 2005 |
| Externally published | Yes |
| Event | 2005 American Control Conference, ACC - Portland, OR, United States Duration: Jun 8 2005 → Jun 10 2005 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering