Full-State Feedback Tracking Controllers

Marcio S de Queiroz; Darren M Dawson; Siddharth P Nagarkatti; Fumin Zhang

Full-State Feedback Tracking Controllers

Marcio S de Queiroz
, Darren M Dawson
, Siddharth P Nagarkatti
, Fumin Zhang

Nuclear Safety & Regulatory Research

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

This chapter will concentrate on the full-state feedback (FSFB) (i.e., position and velocity are available for feedback) control problem for general, nonlinear, MIMO, rigid mechanical systems with parametric uncertainty. Specifically, we will emphasize the adaptive control solution to this problem. First (as in Chapter 2), we will present, owing to its popularity and relative simplicity, the standard adaptive controller of Slotine and Li [27] in its original MIMO version. The idea is for this adaptive controller to serve as a benchmark for the subsequent MIMO, FSFB controllers of this chapter and the output feedback controllers of Chapter 4.

Original language	English
Title of host publication	Lyapunov-Based Control of Mechanical Systems
Chapter	3
Pages	53
Number of pages	86
State	Published - 2000

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title = "Full-State Feedback Tracking Controllers",

abstract = "This chapter will concentrate on the full-state feedback (FSFB) (i.e., position and velocity are available for feedback) control problem for general, nonlinear, MIMO, rigid mechanical systems with parametric uncertainty. Specifically, we will emphasize the adaptive control solution to this problem. First (as in Chapter 2), we will present, owing to its popularity and relative simplicity, the standard adaptive controller of Slotine and Li [27] in its original MIMO version. The idea is for this adaptive controller to serve as a benchmark for the subsequent MIMO, FSFB controllers of this chapter and the output feedback controllers of Chapter 4.",

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AU - Zhang, Fumin

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N2 - This chapter will concentrate on the full-state feedback (FSFB) (i.e., position and velocity are available for feedback) control problem for general, nonlinear, MIMO, rigid mechanical systems with parametric uncertainty. Specifically, we will emphasize the adaptive control solution to this problem. First (as in Chapter 2), we will present, owing to its popularity and relative simplicity, the standard adaptive controller of Slotine and Li [27] in its original MIMO version. The idea is for this adaptive controller to serve as a benchmark for the subsequent MIMO, FSFB controllers of this chapter and the output feedback controllers of Chapter 4.

AB - This chapter will concentrate on the full-state feedback (FSFB) (i.e., position and velocity are available for feedback) control problem for general, nonlinear, MIMO, rigid mechanical systems with parametric uncertainty. Specifically, we will emphasize the adaptive control solution to this problem. First (as in Chapter 2), we will present, owing to its popularity and relative simplicity, the standard adaptive controller of Slotine and Li [27] in its original MIMO version. The idea is for this adaptive controller to serve as a benchmark for the subsequent MIMO, FSFB controllers of this chapter and the output feedback controllers of Chapter 4.

M3 - Chapter

SP - 53

BT - Lyapunov-Based Control of Mechanical Systems

ER -

Full-State Feedback Tracking Controllers

Abstract

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