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Adaptive control of nonlinearly parameterized systems: the smooth feedback case

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2 Author(s)
Wei Lin ; Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA ; Chunjiang Qian

Studies global adaptive control of nonlinearly parameterized systems with uncontrollable linearization. Using a parameter separation technique and the tool of adding a power integrator, we develop a feedback domination design approach for the explicit construction of a smooth adaptive controller that solves the problem of global state regulation. In contrast to the existing results in the literature, a key feature of our adaptive regulator is its minimum-order property, namely, no matter how big the number of unknown parameters is, the order of the dynamic compensator is identical to one, and is therefore minimal. As a consequence, global state regulation of feedback linearizable systems with nonlinear parameterization is achieved by one-dimensional adaptive controllers, without imposing any extra (e.g., convex/concave) conditions on the unknown parameters.

Published in:

Automatic Control, IEEE Transactions on  (Volume:47 ,  Issue: 8 )

Date of Publication:

Aug 2002

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