Augmenting adaptive output feedback control of uncertain nonlinear systems with actuator nonlinearities

• Published in: 2004 American Control Conference Proceedings; Volume 5 of 6 Vol. 5; pp. 4675 - 4680 vol.5
• Main Authors: Bong-Jun Yang, Calise, A.J., Hovakimyan, N.
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Piscataway NJ IEEE 01.01.2004; Evanston IL American Automatic Control Council
• Subjects: Adaptative systems; Adaptive control; Applied sciences; Computer science; control theory; systems; Control nonlinearities; Control systems; Control theory. Systems; Exact sciences and technology; Hydraulic actuators; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Output feedback; Programmable control; Robustness; Closed feedback; Uncertain system; Unmodeled dynamics; Saturation; Parametric system; Non linear control; Feedback regulation; Dead zone; Adaptive control; Output feedback; Actuator
• ISBN: 9780780383357; 0780383354
• ISSN: 0743-1619; 2378-5861
• DOI: 10.23919/ACC.2004.1384050

We address systematic design of a linear compensator to enhance the performance of an adaptive output feedback control with actuator nonlinearities. The adaptive output feedback controller augments a baseline linear controller. The basic approach involves showing that the augmenting adaptive output feedback architecture is structurally equivalent to a robust internal-loop compensator. The approach addresses a broad class of actuator nonlinearities, and is applicable to non-affine, nonlinear system containing both parametric uncertainty and unmodelled dynamics. We illustrate the main results using a three-disk torsional system, in which the actuator is subject to dead zone and saturation.