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Dapeng Wu
School of Electrical Engineering & Automation, Tianjin Polytechnic University

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Nonlinear Direct Robust Adaptive Control Using Lyapunov Method Yimei Chen; Dapeng Wu; Chunbo Xiu
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 1: January 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

   The problem of robust adaptive stabilization of a class of multi-input nonlinear systems with arbitrary unknown parameters and unknown structure of bounded variation have been considered. By employing the direct adaptive and control Lyapunov function method, a robust adaptive controller is designed to complete the globally adaptive stability of the system states. By employing our result, a kind of nonlinear system is analyzed, the concrete form of the control law is given and the meaningful quadratic control Lyapunov function for the system is constructed. Simulation of parallel manipulator is provided to illustrate the effectiveness of the proposed method.DOI : http://dx.doi.org/10.11591/telkomnika.v12i1.3100
Co-Authors Chunbo Xiu Yimei Chen