Abstract
The popular model reference adaptive control (MRAC) technique is extended to the case of two nonlinear dynamical systems mutually tracking and/or avoiding each other in a specified sense, subject to bounded uncertainty of their parameters (MURAC). The error equation approach classical in MRAC is replaced by a different approach which may be called the product-state-space method. Signal adaptive feedback controllers and adaptive laws are proposed together with sufficient conditions for the required tracking and avoidance. Application to a mechanical system illustrates the results.
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© 1992 Springer-Verlag
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Skowronski, J.M. (1992). Mutual reference adaptive control of nonlinear uncertain systems. In: Skowronski, J.M., Flashner, H., Guttalu, R.S. (eds) Mechanics and Control. Lecture Notes in Control and Information Sciences, vol 170. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0004314
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DOI: https://doi.org/10.1007/BFb0004314
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