Adaptive Control of Nonlinear Flexible Systems
Final rept. 1 Aug 1990-31 Jul 1992
INTEGRATED SYSTEMS INC SANTA CLARA CA
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The objective is the development of adaptive control methods which can significantly improve closed-loop performance for a broad class of nonlinear flexible systems. Towards this end, a nonlinear controller, applicable to a broad class of nonlinear systems, was devised. The controller consists of a feedforward signal generator which incorporates a model estimate together with a global feedback linearizer. There is an inner feedback controller which modifies control action in accordance with output errors between the feedforward ideal output and the actual sensed output. The adaptive scheme studied uses measured data to update the model in the feedforward signal generator. It was discovered in many simulations that this two-level approach to adaptive feedback linearization can perform significantly better than feedback linearizers using an observer network.
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