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Nonlinear model reference adaptive control

Published online by Cambridge University Press:  17 February 2009

J. M. Skowronski
J. M. Skowronski
Affiliation:
Department of Mathematics, University of Queensland, St. Lucia, Qld, 4067, Australia.
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Abstract

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The known linear model reference adaptive control (MRAC) technique is extended to cover nonlinear and nonlinearizable systems (several equilibria, etc) and used to stabilize the system about a model. The method proposed applies the same Liapunov Design Technique but avoids the classical error equation. Instead it operates in the product of the state spaces of plant and model, aiming at convergence to a diagonal set. Control program, Liapunov functions and adaptive law are specified. The case is illustrated on a two-degrees of freedom robotic manipulator.

Type
Research Article
Information
The ANZIAM Journal , Volume 28 , Issue 2 , October 1986 , pp. 147 - 157
Copyright
Copyright © Australian Mathematical Society 1986

References

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