ADAPTIVE-CONTROL OF NON-COMPLETELY CONTROLLED MECHANICAL SYSTEMS USING DYNAMIC FEEDBACK LINEARIZATION AND ESTIMATION DESIGN

被引：7

作者：

BOUSTANY, F ^{[1
]}

DANDREANOVEL, B ^{[1
]}

机构：

[1] ECOLE MINES PARIS, CTR AUTOMAT & SYST, F-77305 FONTAINEBLEAU, FRANCE

来源：

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 1992年 / 6卷 / 06期

关键词：

ESTIMATION DESIGN; FEEDBACK LINEARIZATION; GLOBAL STABILITY; MECHANICAL SYSTEMS;

D O I：

10.1002/acs.4480060606

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose here an indirect adaptive scheme for a class of non-completely controlled mechanical systems comprising a classical manipulator terminated by a simple pendulum. In the case of known parameters a dynamic state feedback produces full linearization. An adaptive version is obtained by a simple estimation method together with a certainty equivalence law. Global stability is proved without growth conditions. Simulation results for an overhead crane are given.

引用

页码：589 / 610

页数：22

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