Abstract
This article is intended to bring together ideas from the geometric theory of nonlinear control systems, in particular the employment of homogeneity properties for asymptotic feedback stabilization, with a classical approach to adaptive control, in particular the regulation problem in the presence of unknown parameters. The control systems under consideration are of the form
The control u takes vaLues in R, x E R“ and the vectorfields f and g are explicitly linearly parametrized by the supposedly unknown parameter p E R, i.e.
where k and gi are smooth vectorfields on R“, and we suppose that f°(0) _ f1(0) = O. (Note, that this notion of linear parametrization is very much coordinate dependent.)
Keywords
- Filter Design
- Nonlinear Control System
- Feedback Stabilization
- Lyapunov Function Versus
- Open Neighbourhood Versus
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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© 1991 Springer Science+Business Media New York
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Kawski, M. (1991). Applications of Homogeneity to Nonlinear Adaptive Control. In: Bowers, K., Lund, J. (eds) Computation and Control II. Progress in Systems and Control Theory, vol 11. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0427-5_15
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DOI: https://doi.org/10.1007/978-1-4612-0427-5_15
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