Abstract
The authors give some initial results on the adaptive control of minimum-phase nonlinear systems which are exactly input-output linearizable by state feedback. Parameter adaptation is used as a technique to make robust the exact cancellation of nonlinear terms, which is called for in the linearization technique. The application of the adaptive technique to control of robot manipulators is discussed. Only the continuous-time case is considered; extensions to the discrete-time and sampled-data cases are not obvious.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Adaptive controlControl theory (sociology)LinearizationNonlinear systemFeedback linearizationNonlinear controlComputer scienceState (computer science)Adaptation (eye)Control (management)MathematicsControl engineeringArtificial intelligenceAlgorithmEngineering
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Publication Info
- Year
- 1989
- Type
- article
- Volume
- 34
- Issue
- 11
- Pages
- 1123-1131
- Citations
- 1191
- Access
- Closed
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Cite This
Shankar Sastry,
Alberto Isidori
(1989).
Adaptive control of linearizable systems.
IEEE Transactions on Automatic Control
, 34
(11)
, 1123-1131.
https://doi.org/10.1109/9.40741
Identifiers
- DOI
- 10.1109/9.40741