A multiple model based observer/estimator for the estimation of parameters is used to reset the parameter estimation in a conventional Lyapunov based nonlinear adaptive controller. The advantage of combining both approaches is that the performance of the controller with respect to disturbances can be considerably improved while a reduced controller gain will increase the robustness of the approach with respect to noise and unmodeled dynamics. Several alternative resetting criteria are developed based on a control Lyapunov function.
CITATION STYLE
Kalkkuhl, J., Johansen, T. A., Lüdemann, J., & Queda, A. (2001). Nonlinear adaptive backstepping with estimator resetting using multiple observers. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2034, pp. 319–332). Springer Verlag. https://doi.org/10.1007/3-540-45351-2_27
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