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, 1997Accepted:March 28, 1998Published:April 20, 1998
Keywords:Adaptive control, Disturbance rejection, Tracking systems
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.Data files: