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    Experimental Validation of an Augmenting Approach to Adaptive Control of Uncertain Nonlinear Systems

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    yang_gnc_2003_110.pdf (489.5Kb)
    Date
    2003-08
    Author
    Yang, Bong-Jun
    Hovakimyan, Naira
    Calise, Anthony J.
    Craig, James I.
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    Abstract
    A method of adaptive output feedback design for uncertain nonlinear systems is presented. The development is in a form that is suitable for augmenting a linear controller. The approach is applicable to non-affine, non-minimum phase systems having parametric and dynamic uncertainties. A requirement is that the non-minimum phase zeros are represented to a sufficient accuracy in the linear controller design. The approach has been experimentally validated using a 3-disk torsional pendulum and an inverted pendulum.
    URI
    http://hdl.handle.net/1853/35918
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    • Aerospace Controls Group Publications [50]

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