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 and Applied Science > Electronics and Computer Science > Comms, Signal Processing & Control |
| Item ID: | 250054 |
| Date Deposited: | 30 Jan 2000 |
| Last Modified: | 01 Mar 2012 10:16 |
| Contributors: | French, M. (Author) Rogers, E. (Author) |
| Date: | 1997 |
| Additional Information: | Organisation: IEEE Address: San Diego, CA |
| Status: | Published |
| Publisher: | IEEE |
| Further Information: | Google Scholar |
| ISI Citation Count: | 1 |
| URI: | http://eprints.soton.ac.uk/id/eprint/250054 |
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