Direct Adaptive CMAC PI Control for Uncertain Nonlinear Systems with Measurable Output Feedback

Chun Sheng Chen

doi:10.4028/www.scientific.net/AMM.479-480.612

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 479-480Direct Adaptive CMAC PI Control for Uncertain...

Direct Adaptive CMAC PI Control for Uncertain Nonlinear Systems with Measurable Output Feedback

Abstract:

A stable direct adaptive CMAC PI controller for a class of uncertain nonlinear systems is investigated under the constrain that only the system output is available for measurement. First, a state observer is used to estimate unmeasured states of the systems. Then, the PI control structure is used for improving robustness in the closed-loop system and avoiding affection of uncertainties and external disturbances. The global asymptotic stability of the closed-loop system is guaranteed according to the Lyapunov stability criterion. To demonstrate the effectiveness of the proposed method, simulation results indicate that the proposed approach is capable of achieving a good trajectory following performance without the knowledge of plant parameters.

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Periodical:

Applied Mechanics and Materials (Volumes 479-480)

Pages:

612-616

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.479-480.612

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Online since:

December 2013

Authors:

Chun Sheng Chen

Keywords:

CMAC, Direct Adaptive Control, Nonlinear System, Output Feedback Control

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