Autors: Mishkov, R. L., Petrov, V. S.
Title: Adaptive Tuning Functions Tracking Control with Nonlinear Adaptive Observers
Keywords: nonlinear systems, adaptive control, adaptive observers, adaptive parameter estimators, Lyapunov stability

Abstract: The paper is dedicated to the derivation of a unified approach for nonlinear adaptive closed loop system design with nonlinear adaptive state and parameter observers combined with tuning functions based nonlinear adaptive control for trajectory tracking. The proposed approach guarantees asymptotic stability of the closed loop nonlinear adaptive system with respect to the tracking and state estimation errors and Lyapunov stability of the parameter estimator. Advantages of the approach are the lack of overparametrization resulting in minimal number of estimator equations and the preservation of the overdamped performance specifications of the closed loop nonlinear adaptive system in its whole range of operation. The application of the approach to a permanent magnet synchronous motor driven inverted pendulum ends with simulation of the closed loop nonlinear adaptive system time responses.


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Information technologies and control, vol. 11, issue 2, pp. 14 - 21, 2014, Bulgaria, John Atanasoff Society of Automatics and Informatics, ISSN 2367-5357

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