Extended Adaptive Control of Nonlinear Multivariable Servomechanisms Not Requiring Acceleration Sensing

摘要

This paper presents an extended adaptive control strategy applicable to a class of nonlinear multivari-able servomechanisms that overcomes the limitations of existing methods in that it takes into account the effects of practical imperfections and does not require acceleration sensing. The analytical properties of the proposed strategy are described in the paper, and the manner in which these lead to improved performance is also discussed. The paper also includes simulation results on the control of a passive line-of-sight stabilisation system which provides verification of the stated analytical results and the effectiveness of the proposed extended adaptive control strategy.