On the Design of Robust Adaptive Output Tracking Controller for Indirect Feedback Linearizable Systems

抄録

Assuming that the input vector field is not affected by unknown constant parameters, the main topic of this paper is the design of robust adaptive output tracking for uncertain nonlinear systems which are dependent on both unknown constant parameters entering linearly and unstructured uncertainties, via indirect feedback linearization (or estimation-based feedback linearization) by state feedback. For this control purpose, in a combined local-domain of state variables and parameter estimates, a nonlinear control scheme with robust adaptive law is derived indirectly. It is then shown that the nonlinear controller implies the robustness and adaptive output tracking of the closed-loop control system. This result is also confirmed with a computer experiment for uncertain single-link rigid robot.