In this paper we consider a class of nonlinear systems in which a set of constant parameters is unknown and some state variables are not available for measurement. For such systems we provide a constructive procedure for the solution of the global adaptive tracking problem with dynamic partial state feedback. We illustrate an application of the control strategy to the adaptive nonlinear friction compensation of a DC motor servomechanism. We improve previous results in two directions: we allow for a subset of the unmeasurable states to enter in the system nonlinearly; we consider systems which are linearly parametrized with respect to a set of unknown constant parameters.

Santosuosso, G.l., & Tomei, P. (2000). Global adaptive output feedback controllers with application to nonlinear friction compensation. In PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 (pp.2914-2919). NEW YORK : IEEE.

Global adaptive output feedback controllers with application to nonlinear friction compensation

SANTOSUOSSO, GIOVANNI LUCA;TOMEI, PATRIZIO
2000

Abstract

In this paper we consider a class of nonlinear systems in which a set of constant parameters is unknown and some state variables are not available for measurement. For such systems we provide a constructive procedure for the solution of the global adaptive tracking problem with dynamic partial state feedback. We illustrate an application of the control strategy to the adaptive nonlinear friction compensation of a DC motor servomechanism. We improve previous results in two directions: we allow for a subset of the unmeasurable states to enter in the system nonlinearly; we consider systems which are linearly parametrized with respect to a set of unknown constant parameters.
39th IEEE Conference on Decision and Control
SYDNEY, AUSTRALIA
DEC 12-15, 2000
IEEE Control Syst Soc, SIAM, INFORMS
Rilevanza internazionale
contributo
Settore ING-INF/04 - Automatica
English
Nonlinear systems, adaptive control, output feedback, nonlinear friction.
Intervento a convegno
Santosuosso, G.l., & Tomei, P. (2000). Global adaptive output feedback controllers with application to nonlinear friction compensation. In PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 (pp.2914-2919). NEW YORK : IEEE.
Santosuosso, Gl; Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/51694
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