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Adaptive dynamic inversion for nonaffine-in-control systems via time-scale separation: part II
Proceedings of the 2005, American Control Conference, 2005.
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This paper presents an adaptive dynamic inversion method for uncertain nonaffine-incontrol dynamical systems. Online approximation of the adaptive dynamic inversion controller is performed using time-scale separation. The resulting control signal is sought as a solution of a "fast" dynamical equation, which inverts a series parallel model, whose state is shown to track the state of the original nonaffine-incontrol system. Numerically verifiable sufficient conditions on the system parameters are
doi:10.1109/acc.2005.1470523
fatcat:muzpowehnbgkpomloqkt2a37ii