Experimental validation of an augmenting approach to adaptive control of uncertain nonlinear systems

Bong Jun Yang, Naira Hovakimyan, Anthony J. Calise, James I. Craig

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A method of adaptive output feedback design for uncertain nonlinear systems is presented. The development is in a form that is suitable for augmenting a linear controller. The approach is applicable to nonaffine, non-minimum phase systems having parametric and dynamic uncertainties. A requirement is that the non-minimum phase zeros are represented to a sufficient accuracy in the linear controller design. The approach has been experimentally validated using a 3-disk torsional pendulum and an inverted pendulum.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786, 9781624100901
DOIs
StatePublished - 2003
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2003 - Austin, TX, United States
Duration: Aug 11 2003Aug 14 2003

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2003
CountryUnited States
CityAustin, TX
Period8/11/038/14/03

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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