Reference : Stable Robust Adaptive Controller and Observer Design for a Class of SISO Nonlinear S...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/12580
Stable Robust Adaptive Controller and Observer Design for a Class of SISO Nonlinear Systems with Unknown Dead Zone
English
Jasim, Ibrahim mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Nov-2009
2009 International Conference on Control and Automation
Yes
International
2009 International Conference on Control and Automation
25-11-2009 to 27-11-2009
[en] Deadzone ; Nonlinear systems ; Observer ; Robust adaptive control
[en] This paper presents a new stable robust adaptive controller and observer design for a class of nonlinear systems that contain i. coupling of unmeasured states and unknown parameters ii. unknown dead zone at the system actuator. The system is firstly cast into a modified form in which the observer and parameter estimation become feasible. Then a stable robust adaptive controller, state observer, parameter update laws are derived that would provide global adaptive system stability and desirable performance. To validate the approach, simulation was performed to a single-link mechanical system with a dynamic friction model and unknown dead zone exists at the system actuation. Then a comparison is presented with the results when there is no dead zone at the system actuation.
http://hdl.handle.net/10993/12580

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