Globally convergent adaptive tracking of angular velocity with inertia identification and adaptive linearization

Amit K. Sanyal; Madhusudhan Chellappa; Jean Luc Valk; Jasim Ahmed; Jinglai Shen; Dennis S. Bernstein

doi:10.1016/S1474-6670(17)34881-4

Globally convergent adaptive tracking of angular velocity with inertia identification and adaptive linearization

Amit K. Sanyal, Madhusudhan Chellappa, Jean Luc Valk, Jasim Ahmed, Jinglai Shen, Dennis S. Bernstein

Research output: Contribution to journal › Conference Article › peer-review

1 Scopus citations

Abstract

The problem of a rigid body tracking a desired angular velocity trajectory is addressed using adaptive feedback control. An adaptive controller is developed for a planar rotating body tracking a desired angular velocity command. Lyapunov analysis is used to show that tracking is achieved globally. A periodic angular velocity command is then used to identify the inertia parameter. The adaptive controller is implemented on a triaxial attitude control testbed with fan thrusters. A piecewise linear approximation of an observed input non linearity is inverted to obtain improved angular velocity tracking and inertia identification. To eliminate residual tracking error, an adaptive algorithm is used for improved feedback linearization. Lyapunov analysis is used to show boundedness of the angular velocity and inertia estimate errors. The approach is validated by numerical simulation.

Original language	English (US)
Pages (from-to)	939-944
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	16
DOIs	https://doi.org/10.1016/S1474-6670(17)34881-4
State	Published - 2003
Externally published	Yes
Event	13th IFAC Symposium on System Identification, SYSID 2003 - Rotterdam, Netherlands Duration: Aug 27 2003 → Aug 29 2003

Keywords

Adaptive Control
Identification
Nonlinear Systems
Tracking
Units

ASJC Scopus subject areas

Control and Systems Engineering

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10.1016/S1474-6670(17)34881-4

Cite this

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title = "Globally convergent adaptive tracking of angular velocity with inertia identification and adaptive linearization",

abstract = "The problem of a rigid body tracking a desired angular velocity trajectory is addressed using adaptive feedback control. An adaptive controller is developed for a planar rotating body tracking a desired angular velocity command. Lyapunov analysis is used to show that tracking is achieved globally. A periodic angular velocity command is then used to identify the inertia parameter. The adaptive controller is implemented on a triaxial attitude control testbed with fan thrusters. A piecewise linear approximation of an observed input non linearity is inverted to obtain improved angular velocity tracking and inertia identification. To eliminate residual tracking error, an adaptive algorithm is used for improved feedback linearization. Lyapunov analysis is used to show boundedness of the angular velocity and inertia estimate errors. The approach is validated by numerical simulation.",

keywords = "Adaptive Control, Identification, Nonlinear Systems, Tracking, Units",

author = "Sanyal, {Amit K.} and Madhusudhan Chellappa and {Luc Valk}, Jean and Jasim Ahmed and Jinglai Shen and Bernstein, {Dennis S.}",

note = "Publisher Copyright: {\textcopyright} 2003 International Federation of Automatic Control.; 13th IFAC Symposium on System Identification, SYSID 2003 ; Conference date: 27-08-2003 Through 29-08-2003",

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AU - Sanyal, Amit K.

AU - Chellappa, Madhusudhan

AU - Luc Valk, Jean

AU - Ahmed, Jasim

AU - Shen, Jinglai

AU - Bernstein, Dennis S.

PY - 2003

Y1 - 2003

N2 - The problem of a rigid body tracking a desired angular velocity trajectory is addressed using adaptive feedback control. An adaptive controller is developed for a planar rotating body tracking a desired angular velocity command. Lyapunov analysis is used to show that tracking is achieved globally. A periodic angular velocity command is then used to identify the inertia parameter. The adaptive controller is implemented on a triaxial attitude control testbed with fan thrusters. A piecewise linear approximation of an observed input non linearity is inverted to obtain improved angular velocity tracking and inertia identification. To eliminate residual tracking error, an adaptive algorithm is used for improved feedback linearization. Lyapunov analysis is used to show boundedness of the angular velocity and inertia estimate errors. The approach is validated by numerical simulation.

AB - The problem of a rigid body tracking a desired angular velocity trajectory is addressed using adaptive feedback control. An adaptive controller is developed for a planar rotating body tracking a desired angular velocity command. Lyapunov analysis is used to show that tracking is achieved globally. A periodic angular velocity command is then used to identify the inertia parameter. The adaptive controller is implemented on a triaxial attitude control testbed with fan thrusters. A piecewise linear approximation of an observed input non linearity is inverted to obtain improved angular velocity tracking and inertia identification. To eliminate residual tracking error, an adaptive algorithm is used for improved feedback linearization. Lyapunov analysis is used to show boundedness of the angular velocity and inertia estimate errors. The approach is validated by numerical simulation.

KW - Adaptive Control

KW - Identification

KW - Nonlinear Systems

KW - Tracking

KW - Units

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DO - 10.1016/S1474-6670(17)34881-4

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JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

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Y2 - 27 August 2003 through 29 August 2003

ER -

Globally convergent adaptive tracking of angular velocity with inertia identification and adaptive linearization

Abstract

Keywords

ASJC Scopus subject areas

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