Nonlinear Robust Adaptive Control Using Direct Adaptive Method

Abstract

The problem of robust adaptive stabilization of a class of multi-input nonlinear systems with unknown parameters and structure has been considered. By employing the direct adaptive method to a general nonlinear adaptive system, a robust adaptive controller is designed to complete the global asymptotically stability of the system states. Some simulations are provided to illustrate the effectiveness of the proposed method.

Nonlinear Adaptive Tracking of the Steward Platform in Task Space

“…Honegger et al [6] developed a nonlinear adaptive controller to a 6-dof parallel manipulator used classical compute torque controller, and the property of the controller is verified by the test. To make a better performance of trajectory tracking, some adaptive controllers were proposed in task space [7][8] In this paper, an adaptive controller for the Steward platform in task space based on the control Lyapunov method [9] is proposed. The stabilized conditions and corresponding proof are also presented, and the selection method of the controller parameters is proposed…”