A NONLINEAR ADAPTIVE-CONTROL ALGORITHM BASED ON SYSTEM FLOW APPROXIMATIONS

Abstract

This paper describes a technique which has been found useful in controlling a large class of nonlinear and linear systems with relatively weak assumptions regarding their structure. The methodology presented does not rely on a linear parametrization of the system equations, nor on knowledge of their functional form. It is thereby inherently robust to modelling errors and disturbances. Exponential tracking convergence, model convergence, and prescribed transient response are characteristics of the method which relies on the deadbeat identification of the vector field associated with the system.A controller based on the methods presented in the paper has been extensively evaluated in both simu..