Adaptive Controller and Observer Design for a Class of Nonlinear Systems

[+] Author and Article Information
Yongliang Zhu

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078

Prabhakar R. Pagilla1

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078pagilla@ceat.okstate.edu


Corresponding author.

J. Dyn. Sys., Meas., Control 128(3), 712-717 (Oct 18, 2005) (6 pages) doi:10.1115/1.2234489 History: Received May 18, 2004; Revised October 18, 2005

Design of a stable adaptive controller and observer for a class of nonlinear systems that contain product of unmeasurable states and unknown parameters is considered. The nonlinear system is cast into a suitable form based on which a stable adaptive controller and observer are designed using a parameter dependent Lyapunov function. The class of nonlinear systems considered is practically relevant; mechanical systems with dynamic friction fall into this category. Experimental results on a single-link mechanical system with dynamic friction are shown for the proposed design.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Picture of the experimental platform

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Figure 2

Desired position and tracking errors

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Figure 3

Estimate of Z(t): Ẑ1(t) and Ẑ2(t)

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Figure 4

Estimated parameters: Θ̂1(t), Θ̂2(t), and Θ̂3(t)




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