| Key Words |
Nonlinear systems; adaptive control; adaptive observers;
adaptive parameter estimators; Lyapunov stability. |
| Abstract |
The paper is dedicated to the derivation of a unified
approach for nonlinear adaptive closed loop system design with
nonlinear adaptive state and parameter observers combined with
tuning functions-based nonlinear adaptive control for trajectory
tracking. The proposed approach guarantees asymptotic stability
of the closed loop nonlinear adaptive system with respect to the
tracking and state estimation errors and Lyapunov stability of the
parameter estimator. The advantages of the approach are the lack
of over-parametrization, resulting in a minimal number of estimator
equations and the preservation of the overdamped performance
specifications of the closed loop nonlinear adaptive system
in its whole range of operation. The application of the approach
to a permanent magnet synchronous motor driven inverted pendulum
concludes with simulation of the closed loop nonlinear
adaptive system time responses. |
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