A Stable Adaptive Observer for a Class of Nonlinear Second Order Systems
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.
KeywordsExponential Stability Global Stability Robot Manipulator Homogeneous Part Adaptive Observer
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