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Adaptive Control Design for Nonlinear Systems via Successive Approximations

[+] Author Affiliations
Naser Babaei, Metin U. Salamci

Gazi University, Ankara, Turkey

Ahmet Hakan Karakurt

Bilkent University, Ankara, Turkey

Paper No. DSCC2017-5353, pp. V001T15A006; 8 pages
doi:10.1115/DSCC2017-5353
From:
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5827-1
  • Copyright © 2017 by ASME

abstract

The paper presents an approach to the Model Reference Adaptive Control (MRAC) design for nonlinear dynamical systems. A nonlinear reference system is considered such that its response is designed to be stable via Successive Approximation Approach (SAA). Having designed the stable reference model through the SAA, MRAC is then formulated for nonlinear plant dynamics with a new adaptation rule to guarantee the convergence of the nonlinear plant response to that of the response of the nonlinear reference model. The proposed design methodology is illustrated with examples for different case studies.

Copyright © 2017 by ASME

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