Adaptive dynamic inversion for nonaffine-in-control uncertain systems via time-scale separation. Part II

Eugene Lavretsky, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review

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. The design methodology is constructive, and numerically verifiable sufficient conditions on the system parameters are given. A simulation example, motivated by aerospace applications, illustrates the theoretical results.

Original languageEnglish (US)
Pages (from-to)33-41
Number of pages9
JournalJournal of Dynamical and Control Systems
Volume14
Issue number1
DOIs
StatePublished - Jan 1 2008
Externally publishedYes

Keywords

  • Neural networks
  • Nonaffine-in-control uncertain dynamical systems
  • Time-scale separation
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Algebra and Number Theory
  • Numerical Analysis
  • Control and Optimization

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