Output Feedback Adaptive Control in the Presence of Unmodeled Dynamics

摘要

An approach for designing an adaptive output feedback controller that augments an assumed existing observer based linear controller is developed. The unique attributes of this approach are that it can be used to augment an existing linear controller without modifying the parameters of that controller, it does not rely on the use of high gains neither in the observer nor in the the adaptation law, it is applicable to non-minimum phase systems, it does not require realization of a reference model, the only dynamics that are added to the original system are those of the adaptive law, and it is adaptive to the presence of matched unmodeled dynamics. A simple wing rock model appended with unmodeled dynamics and a model for attitude control of a flexible spacecraft are used to illustrate effectiveness of the approach.