Adaptive Dynamic Inversion via Time-Scale Separation

  title={Adaptive Dynamic Inversion via Time-Scale Separation},
  author={Naira Hovakimyan and Eugene Lavretsky and Chengyu Cao},
  journal={IEEE Transactions on Neural Networks},
This paper presents a full state feedback adaptive dynamic inversion method for uncertain systems that depend nonlinearly upon the control input. Using a specialized set of basis functions that respect the monotonic property of the system nonlinearities with respect to control input, a state predictor is defined for derivation of the adaptive laws. The adaptive dynamic inversion controller is defined as a solution of a fast dynamical equation, which achieves time-scale separation between the… CONTINUE READING
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