Simple Adaptive Control of Systems with Bounded   Nonlinear Disturbances

Kazuya sato; Keigo Watanabe; Masahiro Oya; Toshihiro Kobayashi

doi:10.20965/jrm.1998.p0158

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JRM Vol.10 No.2 pp. 158-165

doi: 10.20965/jrm.1998.p0158

(1998)

Paper:

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Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances

Kazuya sato^, Keigo Watanabe^, Masahiro Oya^ and Toshihiro Kobayashi^

^*Department of Advanced Systems Control Engineering, Graduate School of Scienced and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan

^**Department of Control Engineering, Faculty of Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu 804-8550, Japan

Received:

December 1, 1997

Accepted:

March 28, 1998

Published:

April 20, 1998

Keywords:

Adaptive control, Disturbance rejection, Tracking systems

Abstract

This paper describes simple adaptive control for plants with bounded nonlinear disturbances. The proposed controller is applicable to all plants whose relative degree is less than four, in which the upper bound of the high-frequency gain and the function type of disturbances must be known. Results of experiments demonstrate the controller’s effectiveness.

Cite this article as:

K. sato, K. Watanabe, M. Oya, and T. Kobayashi, “Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances,” J. Robot. Mechatron., Vol.10, No.2, pp. 158-165, 1998.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances

Kazuya sato*, Keigo Watanabe*, Masahiro Oya** and Toshihiro Kobayashi**

Kazuya sato^, Keigo Watanabe^, Masahiro Oya^ and Toshihiro Kobayashi^