Abstract
A discrete-time adaptive nonlinear control procedure is developed based on immersion and invariance control, and using back-stepping for the regulation of slider-crank system. A convenient parametric formulation of the system dynamics is established. A novel parameter estimator design is presented, and the back-stepping controller is constructed considering the certainty equivalence principle.
| Original language | English |
|---|---|
| Title of host publication | 19th IFAC World Congress IFAC 2014, Proceedings |
| Editors | Edward Boje, Xiaohua Xia |
| Publisher | IFAC Secretariat |
| Pages | 2225-2230 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783902823625 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa Duration: 24 Aug 2014 → 29 Aug 2014 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Volume | 19 |
| ISSN (Print) | 1474-6670 |
Conference
| Conference | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 |
|---|---|
| Country/Territory | South Africa |
| City | Cape Town |
| Period | 24/08/14 → 29/08/14 |
Bibliographical note
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