Abstract

This paper presents the development of an adaptive state estimator and an output controller based on the attractive ellipsoid method (AEM) for a class of uncertain non-linear systems (quasi-Lipschitz with external perturbations). The proposed method guarantees that, under a specific persistent excitation condition, the controlled system trajectories converge to an ellipsoid having a smaller trace of the corresponding inverse ellipsoidal matrix comparing to classical AEM without adaptation. An underactuated vertical double pendulum is considered as an experimental illustrative example of the suggested approach.

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