A novel error observer-based adaptive output feedback approach for control of uncertain systems

• Published in: IEEE transactions on automatic control Vol. 47; no. 8; pp. 1310 - 1314
• Main Authors: Hovakimyan, N., Nardi, F., Calise, A.J.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.08.2002; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptative systems; Adaptive control; Adaptive control systems; Applied sciences; Computer science; control theory; systems; Computer simulation; Control system synthesis; Control systems; Control theory. Systems; Error analysis; Error correction; Error signals; Errors; Exact sciences and technology; Force control; Force measurement; Neural networks; Output feedback; Programmable control; Trajectory; Uncertain systems; Neural network; Non linear system; Adaptive control; Output feedback; Observer
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2002.800766

We develop an adaptive output feedback control methodology for nonaffine in control of uncertain systems having full relative degree. Given a smooth reference trajectory, the objective is to design a controller that forces the system measurement to track it with bounded errors. A neural network with linear parameters is introduced as an adaptive signal. A simple linear observer is proposed to generate an error signal for the adaptive laws. Ultimate boundedness is shown through Lyapunov's direct method. Simulations of a nonlinear second-order system illustrate the theoretical results.