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Systematic design of adaptive controllers for feedback linearizable systems
Abstract
A systematic procedure is developed for the design of new adaptive regulation and trackdng schemes for a class of feedback linearizable nonlinear systems. The coordinate-free geometric conditions, which characterize this class of systems, neither restrict the location of the unknown parameters, nor constrain the growth of the nonlinearities. Instead, they require that the nonlinear system be transformable into the so-called pure-feedback form. When this form is "strict", the proposed scheme guarantees global regulation and tracking properties, and substantially enlarges the class of nonlinear systems with unknown parameters for which global stabilization can be achieved. The main results of this paper use simple analytical tools, familiar to most control engineers.
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Citations
Cited by
Adaptive Neural Control of Uncertain MIMO Nonlinear Systems
Ge, S. S., & Wang, C. (2004) · IEEE Transactions on Neural Networks · doi:10.1109/tnn.2004.826130 · Cited by 971
Adaptive Finite-Time Tracking Control of Nonlinear Systems With Dynamics Uncertainties
Wang, H., Xu, K., & Zhang, H. (2023) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2022.3226703 · Cited by 342
Adaptive neural network predictive control for nonlinear pure feedback systems with input delay
Na, J., Ren, X., Shang, C., & Guo, Y. (2012) · Journal of Process Control · doi:10.1016/j.jprocont.2011.09.003 · Cited by 101
Control of flexible joint robot system by backstepping design approach
Oh, J. H., & Lee, J. S. (2002) · Proceedings of International Conference on Robotics and Automation · doi:10.1109/robot.1997.606867 · Cited by 64
Metadata
- Authors
- Kanellakopoulos, I., Kokotovic, P. V., & Morse, A. S.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1991-11
- Volume
- 36
- Issue
- 11
- Pages
- 1241-1253
- ISSN
- 0018-9286 (ISSN-L)
- 1558-2523
- OpenAlex
- W3023665282
- Cited by
- 1,958
- References
- 0
- FWCI
- 70.44
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Systematic design of adaptive controllers for feedback linearizable systems. https://app.cochat.ai/papers/10.1109/9.100933
- The paper
- Kanellakopoulos, I., Kokotovic, P. V., & Morse, A. S. (1991). Systematic design of adaptive controllers for feedback linearizable systems. IEEE Transactions on Automatic Control. https://doi.org/10.1109/9.100933
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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