Institute for Systems Research Technical Reports

Permanent URI for this collectionhttp://hdl.handle.net/1903/4376

This archive contains a collection of reports generated by the faculty and students of the Institute for Systems Research (ISR), a permanent, interdisciplinary research unit in the A. James Clark School of Engineering at the University of Maryland. ISR-based projects are conducted through partnerships with industry and government, bringing together faculty and students from multiple academic departments and colleges across the university.

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1992 - 19933

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Author: search.filters.author.Blankenehip, Gilmer L.Subject: search.filters.subject.adaptive control

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    Adaptive Control of Nonlinear Systems via Approximate Linearization
    (1993) Ghanadan, Reza; Blankenehip, Gilmer L.; ISR
    We present a direct adaptive tracking control scheme for nonlinear systems that do not have a well defined (vector) relative degree and hence are not feedback linearizable. This techniques uses feedback and coordinate changes to transform a nonlinear system with parameter uncertainty into an approximate input-output linearized one. Our result is also applicable to slightly non-minimum phase nonlinear systems with unknown parameters. We prove that the presented adaptive design scheme results in an asymptotically stable closed loop system and show that the controller can achieve adaptive tracking of reasonable trajectories with bounds on the tracking error. We also present a state regulation scheme based on state approximate linearization. We demonstrate the adaptive approximate tracking results using a simplified model of an aircraft which is slightly non-minimum phase. The usefulness of our approach is also illustrated on a "benchmark" example that is not feedback linearizable.
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    On Adaptive Control of Non-Minimum Phase Nonlinear Systems
    (1992) Ghanadan, Reza; Blankenehip, Gilmer L.; ISR
    We present a technique of indirect adaptive control for approximate linearization of nonlinear systems based on approximate input-output linearization scheme recently proposed in [HSK92]. The controller can achieve adaptive tracking of reasonable trajectories with small error for slightly non-minimum phase systems. It can also be applied to nonlinear systems where the relative degree is not well defined. Simulation results are provided for the familiar ball and beam experiment under some parameter uncertainty.
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    Adaptive Output Tracking of Invertible MIMO Nonlinear Systems
    (1992) Ghanadan, Reza; Blankenehip, Gilmer L.; ISR
    In this paper we discuss some initial results on the adaptive tracking of MIMO nonlinear systems which do not have a well defined vector relative degree. First, we consider systems that are right-invertible with linear parametric uncertainty in their dynamics. Second, we consider the case where the system is not necessarily invertible. Simulation results for both schemes are presented.