Lapunov-based Adaptive stabilization and its extensions to nonlinear systems with matched uncertainty is discussed. A novel full-state-feedback adaptive controller is used to stabilize nth-order nonlinear systems with bounded state-dependent uncertainty. The uncontrolled systems has a continuum of equilibria, and the origin of the system is semistable, but not asymtotically stable. The adaptive controller stabilizes the equilibrium so that both the velocity and the [position converge to zero. The open loop system is also unstable, and the adaptive controller stabilizes the origin.
|Number of pages
|Proceedings of the American Control Conference
|Published - 2005
|2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005 → Jun 10 2005
ASJC Scopus subject areas
- Electrical and Electronic Engineering