제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권6호
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  • Pages.573-578
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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피드포워드와 비피드포워드 비선형성이 혼재된 비선형 시스템의 적응 제어

Adaptive Control of a Class of Feedforward and Non-feedforward Nonlinear Systems

  • 구민성 (한국과학기술원 전기 및 전자공학과) ;
  • 최호림 (동아대학교 전기공학과) ;
  • 임종태 (한국과학기술원 전기 및 전자공학과)
  • 투고 : 2011.03.16
  • 심사 : 2011.04.24
  • 발행 : 2011.06.01
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초록

We propose a switching-based adaptive state feedback controller for a class of nonlinear systems that have uncertain nonlinearity. The base of the proposed conditions on the nonlinearity is the feedforward form, then it is extended via a nonlinear function containing all the states and the control input. As a result, more generalized systems containing feedforward and nonfeedforward terms are allowed as long as the ratio condition of the nonlinear function is satisfied. Moreover, the information on the growth rate of nonlinearity is not required a priori in our control scheme.

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참고문헌

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