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Adaptive Control of Nonlinear Systems: A Tutorial

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Adaptive Control, Filtering, and Signal Processing

Part of the book series: The IMA Volumes in Mathematics and its Applications ((IMA,volume 74))

Abstract

We present a tutorial overview of recent Lyapunov-based results in adaptive control of nonlinear systems. Design tools like backstepping, overparametrization, and tuning functions are illustrated via simple examples. We also discuss the recently introduced “κ-terms”, which endow the resulting adaptive systems with new properties, such as boundedness without adaptation and systematic transient performance improvement through trajectory initialization.

This work was supported in part by NSF through Grant RIA ECS-9309402, in part by UCLA through the SEAS Dean’s Fund, and in part by the Institute for Mathematics and its Applications with funds provided by the National Science Foundation.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, UCLA, Los Angeles, CA, 90024-1594, USA

    Ioannis Kanellakopoulos

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  1. Ioannis Kanellakopoulos
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Editor information

Editors and Affiliations

  1. Department of Automatic Control, Lund Institute of Technology, Lund, Sweden

    K. J. Åström

  2. Department of Electrical Engineering and Computer Science, The University of Newcastle, Rankin Drive, Newcastle, NSW, 2308, Australia

    G. C. Goodwin

  3. Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, 1308 West Main Street, Urbana, IL, 61801-2307, USA

    P. R. Kumar

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© 1995 Springer Science+Business Media New York

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Kanellakopoulos, I. (1995). Adaptive Control of Nonlinear Systems: A Tutorial. In: Åström, K.J., Goodwin, G.C., Kumar, P.R. (eds) Adaptive Control, Filtering, and Signal Processing. The IMA Volumes in Mathematics and its Applications, vol 74. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-8568-2_5

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  • DOI: https://doi.org/10.1007/978-1-4419-8568-2_5

  • Publisher Name: Springer, New York, NY

  • Print ISBN: 978-1-4612-6439-2

  • Online ISBN: 978-1-4419-8568-2

  • eBook Packages: Springer Book Archive

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