Adaptive control of non‐affine MIMO systems with input non‐linearity and unmodelled dynamics

Robust adaptive control of nonlinear systems with unmodelled dynamics

A robust adaptive output feedback controller is proposed for a class of nonlinear systems represented by input–output models. In the design of the adaptive controller, a signal is used to characterise the unmodelled dynamics and a nonlinear damping term is introduced to counteract the effects of the unmodelled dynamics and bounded disturbances. With the proposed controller, all the variables in...

Adaptive Tracking Control for Nonaffine Nonlinear Systems With Zero Dynamics

A direct adaptive neural network tracking control scheme is presented for a class of nonaffine nonlinear systems with zero dynamics. The method does not assume boundedness on the time derivative of a control effectiveness term. Parameters in neural networks are updated using a gradient descent method which designed in order to minimize a quadratic cost function of the error between the unknown ...

Adaptive Control of Hammerstein Systems with Unknown Input Nonlinearity and Partially Modeled Linear Dynamics

We numerically investigate that an adaptive control law achieves internal model principle control in the presence of plant input nonlinearities. We focus on retrospective cost adaptive control (RCAC) applied to Hammerstein systems with unknown input nonlinearity and limited modeling of the linear dynamics. The goal is to determine whether the control law achieves the correct gain and phase shif...

Adaptive Control of Nonaffine Systems with Applications to Flight Control

Adaptive Control of a Single Link Manipulator Including Motor and Input Unmodelled Dynamics

An adaptive nonlinear control law that incorporates the manipulator dynamics as well as dynamics of the actuator is developed in this article. The technique is based on nonlinear feedback linearization. The electrical parameters of the actuator are considered to be of uncertain values. In contrast to known methods the robot position is the only measurement available, a nonlinear observer is des...