By Topic

Adaptive tracking of angular velocity for a planar rigid body with unknown models for inertia and input nonlinearity

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
N. A. Chaturvedi ; Dept. of Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA ; A. K. Sanyal ; M. Chellappa ; J. L. Valk
more authors

The problem of a planar rigid body, with unknown rotational inertia and an unknown input nonlinearity, tracking a desired angular velocity trajectory is addressed using adaptive feedback control. First, an adaptive controller is developed for tracking a desired angular velocity command, assuming linearly entering control. Sufficient conditions on the command signal for estimating the inertia are given. To account for an unknown input nonlinearity, a piecewise-linear approximation of the nonlinearity is inverted to obtain improved angular velocity tracking and inertia identification. Finally, a direct adaptive algorithm, incorporating feedback linearization is proposed, and Lyapunov analysis is used to show convergence of the angular velocity and inertia estimate errors. The approach is validated by experimental implementation.

Published in:

IEEE Transactions on Control Systems Technology  (Volume:14 ,  Issue: 4 )