제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive Controllers for Feedback Linearizable Systems using Diffeomorphism

  • Park, H.L. (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, S.H. (Communication Satellite Dept. Korea Aerospace Research Institute) ;
  • J.T. Lime (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
  • Published : 2000.10.01
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Abstract

A systematic scheme is developed fer the design of new adaptive feedback linearizing controllers for nonlinear systems. The developed adaptation law estimates the uncertain time-varying parameters using the structure of diffeomorphisrn. Our scheme is applicable to a class of nonlinear systems which violates the restrictive parametric-pure-feedback condition [4]-[6].

Keywords