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 journalConference article

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 languageEnglish (US)
Pages (from-to)939-944
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume36
Issue number16
DOIs
StatePublished - Jan 1 2003
Externally publishedYes
Event13th IFAC Symposium on System Identification, SYSID 2003 - Rotterdam, Netherlands
Duration: Aug 27 2003Aug 29 2003

Keywords

  • Adaptive Control
  • Identification
  • Nonlinear Systems
  • Tracking
  • Units

ASJC Scopus subject areas

  • Control and Systems Engineering

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