Adaptive tracking of angular velocity for a planar rigid body with unknown models for inertia and input nonlinearity

@article{Chaturvedi2006AdaptiveTO,
  title={Adaptive tracking of angular velocity for a planar rigid body with unknown models for inertia and input nonlinearity},
  author={Nalin A. Chaturvedi and Amit K. Sanyal and Madhusudhan Chellappa and Jean-Luc Valk and N. Harris McClamroch and Dennis S. Bernstein},
  journal={IEEE Transactions on Control Systems Technology},
  year={2006},
  volume={14},
  pages={613-627}
}
The problem of a planar rigid body, with unknown rotational inertia and an unknown input nonlinearity, tracking a desired angular velocity trajectory is addressed using adaptive feedback control. First, an adaptive controller is developed for tracking a desired angular velocity command, assuming linearly entering control. Sufficient conditions on the command signal for estimating the inertia are given. To account for an unknown input nonlinearity, a piecewise-linear approximation of the… CONTINUE READING
Highly Cited
This paper has 19 citations. REVIEW CITATIONS
9 Citations
25 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-9 of 9 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 25 references

Adaptive control of nonaffine nonlinear systems using neural networks

  • S. S. Ge, T. H. Lee, J. Wang
  • Proc. IEEE Int. Symp. Intelligent Contr., 2000…
  • 2000

Nonlinear Control and Analytical Mechanics: A Computational Approach

  • H. G. Kwatny, G. L. Blankenship
  • 2000
1 Excerpt

Robust adaptive nonlinear control using single hidden layer neural networks

  • F. Nardi, A. J. Calise
  • Proc. 39th IEEE Conf. Dec. Contr., 2000, pp. 3825…
  • 2000
1 Excerpt

Direct adaptive control of nonaffine nonlinear systems using multilayer neural networks

  • T. Zhang, S. S. Ge, C. C. Hang
  • Proc. Amer. Contr. Conf., 1998, pp. 515–519.
  • 1998
2 Excerpts

An adaptive deadzone technique with a burst alleviation example

  • J. M. Krause, M. J. Englehart
  • IEEE Trans. Autom. Contr., vol. 38, no. 9, pp…
  • 1993
1 Excerpt

Similar Papers

Loading similar papers…