TY - JOUR
T1 - Adaptive tracking of angular velocity for a planar rigid body with unknown models for inertia and input nonlinearity
AU - Chaturvedi, Nalin A.
AU - Sanyal, Amit K.
AU - Chellappa, Madhusudhan
AU - Valk, Jean Luc
AU - McClamroch, N. Harris
AU - Bernstein, Dennis S.
N1 - Funding Information:
Manuscript received June 25, 2004; revised July 14, 2005. Manuscript received in final form February 23, 2006. Recommended by Associate Editor R. S. Erwin. This work was supported in part by the Air Force Office of Scientific Research under Grant F49620-98-1-0037 and by the National Science Foundation under Grant ECS-0140053 and Grant ECS-0244977.
PY - 2006/7
Y1 - 2006/7
N2 - The problem of a planar rigid body, with unknown rotational inertia and an unknown input nonlinearity, tracking a desired angular velocity trajectory is addressed using adaptive feedback control. First, an adaptive controller is developed for tracking a desired angular velocity command, assuming linearly entering control. Sufficient conditions on the command signal for estimating the inertia are given. To account for an unknown input nonlinearity, a piecewise-linear approximation of the nonlinearity is inverted to obtain improved angular velocity tracking and inertia identification. Finally, a direct adaptive algorithm, incorporating feedback linearization is proposed, and Lyapunov analysis is used to show convergence of the angular velocity and inertia estimate errors. The approach is validated by experimental implementation.
AB - The problem of a planar rigid body, with unknown rotational inertia and an unknown input nonlinearity, tracking a desired angular velocity trajectory is addressed using adaptive feedback control. First, an adaptive controller is developed for tracking a desired angular velocity command, assuming linearly entering control. Sufficient conditions on the command signal for estimating the inertia are given. To account for an unknown input nonlinearity, a piecewise-linear approximation of the nonlinearity is inverted to obtain improved angular velocity tracking and inertia identification. Finally, a direct adaptive algorithm, incorporating feedback linearization is proposed, and Lyapunov analysis is used to show convergence of the angular velocity and inertia estimate errors. The approach is validated by experimental implementation.
KW - Adaptive control
KW - Angular velocity tracking
KW - Generalized solution
KW - Input nonlinearity
KW - Rotating bodies
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U2 - 10.1109/TCST.2006.876628
DO - 10.1109/TCST.2006.876628
M3 - Article
AN - SCOPUS:33745612964
SN - 1063-6536
VL - 14
SP - 613
EP - 627
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 4
ER -