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Augmenting adaptive output feedback control of uncertain nonlinear systems with actuator nonlinearities

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3 Author(s)
Bong-Jun Yang ; Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; A. J. Calise ; N. Hovakimyan

We address systematic design of a linear compensator to enhance the performance of an adaptive output feedback control with actuator nonlinearities. The adaptive output feedback controller augments a baseline linear controller. The basic approach involves showing that the augmenting adaptive output feedback architecture is structurally equivalent to a robust internal-loop compensator. The approach addresses a broad class of actuator nonlinearities, and is applicable to non-affine, nonlinear system containing both parametric uncertainty and unmodelled dynamics. We illustrate the main results using a three-disk torsional system, in which the actuator is subject to dead zone and saturation.

Published in:

American Control Conference, 2004. Proceedings of the 2004  (Volume:5 )

Date of Conference:

June 30 2004-July 2 2004