Journal
IEEE TRANSACTIONS ON NEURAL NETWORKS
Volume 19, Issue 10, Pages 1702-1711Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNN.2008.2001221
Keywords
Adaptive control; nonaffine systems; time-scale separation; ultimate boundedness
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Funding
- United States Air Force [FA9550-05-1-0157, FA9550-04-C-0047]
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This paper presents a full state feedback adaptive dynamic inversion method for uncertain systems that depend nonlinearly upon the control input. Using a specialized set of basis functions that respect the monotonic property of the system nonlinearities with respect to control input, a state predictor is defined for derivation of the adaptive laws. The adaptive dynamic inversion controller is defined as a solution of a fast dynamical equation, which achieves time-scale separation between the state predictor and the controller dynamics. Lyapunov-based adaptive laws ensure that the predictor tracks the state of the nonlinear system with bounded errors. As a result, the system state tracks the desired reference model with bounded errors. Benefits of the proposed design method are demonstrated using Van der Pol dynamics with nonlinear control input.
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