Approximate Parameterisations for Adaptive Feedback Linearisation


French, M. and Rogers, E. (1997) Approximate Parameterisations for Adaptive Feedback Linearisation. 1997 IEEE Conference on Decision and Control IEEE, 4665-4670.

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Description/Abstract

A generalisation of a result in Sastry & Isidori (1989) for the adaptive stabilisation/tracking of affine systems with a well defined global relative degree and linear parametric uncertainty is developed to include bounded output disturbances. From this, we develop neuro-control results, for linearly weights approximants with compactly supported basis functions, where the disturbance term is used to handle the approximation error. In contrast to many results in the neuro-control literature the control is state feedback law, taking measurements from the original coordinates not from the normal form. A local in the weights result is given, and under some nonlinearity constraints inherited from Sastry & Isidori (1989) a global result is proved, where the dimension of the controller varies according to the size of the initial conditions and tracking signal. A final global result is obtained where an `external' controller is used to return the state vector to within a region over which the neuro controller can operate. Sastry, S. & Isidori, A. (1989), `Adaptive control of linearizable systems', IEEE Trans. on Automatic Control 34 (11) p1123--1131.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: Organisation: IEEE Address: San Diego, CA
Divisions: Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Comms, Signal Processing & Control
ePrint ID: 250054
Date Deposited: 30 Jan 2000
Last Modified: 27 Mar 2014 19:50
Further Information:Google Scholar
ISI Citation Count:1
URI: http://eprints.soton.ac.uk/id/eprint/250054

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