適応制御による非線形追従制御系の設計 : 電気自動車の走行制御への適用

抄録

Model reference adaptive control (MRAC) of a nonlinear uncertain plant subjected to disturbance is considered. No prior knowledge about the structure of uncertainties is assumed, nor is any constant bound on their values. The Lyapunov type of stability is analyzed. A MRAC law has been developed which provides stable tracking. The paper includes an application of the developed adaptive controller to the control of an electric vehicle which is considered to be an uncertain nonlinear system.