Adaptive stabilization of a class of nonlinear systems with nonparametric uncertainty | IEEE Journals & Magazine | IEEE Xplore

Adaptive stabilization of a class of nonlinear systems with nonparametric uncertainty


Abstract:

We consider adaptive stabilization for a class of nonlinear second-order systems. Interpreting the system states as position and velocity, the system is assumed to have u...Show More

Abstract:

We consider adaptive stabilization for a class of nonlinear second-order systems. Interpreting the system states as position and velocity, the system is assumed to have unknown, nonparametric position-dependent damping and stiffness coefficients. Lyapunov methods are used to prove global convergence of the adaptive controller. Furthermore, the controller is shown to be able to reject constant disturbances and to asymptotically track constant commands. For illustration, the controller is used to stabilize the van der Pol limit cycle, the Duffing oscillator with multiple equilibria, and several other examples.
Published in: IEEE Transactions on Automatic Control ( Volume: 46, Issue: 11, November 2001)
Page(s): 1821 - 1825
Date of Publication: 06 August 2002

ISSN Information:


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