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Adaptive lambda-tracking for Nonlinear Systems
with Higher Relative Degree
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Author(s):
Eric Bullinger, Frank Allgöwer
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Publication Info:
Proc. of the 39th IEEE Conf. on Decision and Control CDC, 2000, Sydney,
Australia, pp. 4771-4776
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Abstract:
Several adaptive controller which universally achieve so-called
lambda-tracking have been proposed in the literature.
From a practical point of view, previous results are not usable for
systems with a high relative degree because of bad numerical conditioning.
The paper presents a modified approach overcoming this numerical problem
while achieving the same robust stability properties.
Stability and convergence of the adaptation is proven for tracking
a large class of reference trajectories.
The design of the controller is very simple
and intuitive, only few parameters have to be tuned
and little structural information about the
system to be controlled is needed.
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Date:
March 2000
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Type of Publication:
Internal Report 2000-1
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Publisher/Supervisor:
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File Download:
ps,
pdf
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Universität Stuttgart