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A Stable Adaptive Observer for a Class of Nonlinear Second Order Systems

  • Michel Gevers
  • Georges Bastin
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 83)

Abstract

We consider a class of single input single output second order nonlinear systems whose coefficients are bounded and have bounded time-variation. We describe an adaptive observer/identifier for these systems and derive sufficient conditions on the system and on the inputs that guarantee global stability of this adaptive observer. We present an application to a robot manipulator with two degrees of freedom.

Keywords

Exponential Stability Global Stability Robot Manipulator Homogeneous Part Adaptive Observer 
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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References

  1. Anderson B.D.O., Bitmead R.R., Johnson C.R.Jr., Kokotovic P.V., Kosut R.L., Mareels I.M.Y., Praly L. and Riedle B.D., “Stability of Adaptive Systems: Passivity and Averaging Analysis”, MIT Press, 1986.Google Scholar
  2. Bastin G. and Gevers M. (1985), “Stable adaptive observers for nonlinear time varying systems”, submitted for publication.Google Scholar
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Copyright information

© Springer Science+Business Media Dordrecht 1986

Authors and Affiliations

  • Michel Gevers
    • 1
  • Georges Bastin
    • 2
  1. 1.Department of Systems Engineering, Research School of Physical SciencesAustralian National UniversityCanberraAustralia
  2. 2.Dynamique et Analyse des SystemesLouvain UniversityLouvain la NeuveBelgium

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