제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.95.4-95
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- 2001
Robust Adaptive Controller Free from Input Singularity for Nonlinear Systems Using Universal Function Approximators
- Park, Jang-Hyun (Korea Univ.) ;
- Yoong, Pil-Sang (Korea Univ.) ;
- Park, Gwi-Tae (Korea Univ.)
- Published : 2001.10.01
Abstract
In this paper, we proposed and analyze an robust adaptive control scheme for uncertain nonlinear systems using Universal function approximators. The proposed scheme completely overcomes the singularity problem which occurs in the indirect adaptive feedback linearizing control. No projection in the estimated parameters and no switching in the control input are needed. The stability of the closed-loop systems is guaranteed in the Lyapunov standpoint.
Keywords