An approach for designing an adaptive output feedback controller for uncertain systems with unmodeled dynamics and plant input uncertainty is developed. The adaptive control augments an assumed existing observer-based linear controller. The main advantages of the method are that it can be used to augment an existing linear controller without modifying the parameters of that controller, and it does not rely on the use of high gains: neither in the observer nor in the adaptation law. It is applicable to nonminimum phase systems and does not require realization of a reference model. Attitude control of a flexible spacecraft is used to illustrate effectiveness of the approach. Issues related to uncertainty in the actuation effectiveness and sensor noise are also treated.
Output Feedback Adaptive Control of Plants with Unmodeled Dynamics and Input Uncertainties
Journal of Guidance, Control, and Dynamics ; 42 , 10 ; 2143-2156
2019-05-29
14 pages
Article (Journal)
Electronic Resource
English
Robust output feedback control for a class of nonlinear systems with input unmodeled dynamics
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