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Input-output linearization using model reference adaptive control techniques

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2 Author(s)
D. W. Vos ; MIT, Cambridge, MA, USA ; L. Valavani

Based on the performance of a unicycle robot, the MRAC methodology is used to define update laws for estimation of parameters for the I/O linearization of nonlinear friction effects which occur in series with the linearized plant. A linear controller closing loops around the plant-nonlinearity concatenation is then able to control the system successfully. In implementation, lack of persistence of excitation allows the parameter estimates to drift, leading to imperfect I/O linearization; suitably bounding the estimates, however, ensures that stability and performance are maintained

Published in:

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Date of Conference:

11-13 Dec 1991