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A novel error observer-based adaptive output feedback approach for control of uncertain systems

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3 Author(s)
Hovakimyan, N. ; Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Nardi, F. ; Calise, A.J.

We develop an adaptive output feedback control methodology for nonaffine in control of uncertain systems having full relative degree. Given a smooth reference trajectory, the objective is to design a controller that forces the system measurement to track it with bounded errors. A neural network with linear parameters is introduced as an adaptive signal. A simple linear observer is proposed to generate an error signal for the adaptive laws. Ultimate boundedness is shown through Lyapunov's direct method. Simulations of a nonlinear second-order system illustrate the theoretical results.

Published in:

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