Abstract
Design of a stable adaptive controller and observer for a class of nonlinear systems that contain product of unmeasurable states and unknown parameters is considered. The nonlinear system is cast into a suitable form based on which a stable adaptive controller and observer are designed using a parameter dependent Lyapunov function. The class of nonlinear systems considered is practically relevant; mechanical systems with dynamic friction fall into this category. Experimental results on a single-link mechanical system with dynamic friction are shown for the proposed design.
Issue Section:
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.Copyright © 2006
by American Society of Mechanical Engineers
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