Spatial periodic adaptive control approach for rotary systems in sampled time

摘要

A periodic adaptive control approach is proposed for a class of nonlinear sampled-time systems with varying parametric uncertainties that are periodic with respect to angular displacement, and the only prior knowledge is the periodicity. The new adaptive controller updates the parameters and the control signal periodically in a pointwise manner between two consecutive spatial cycles and in the sequel achieves the asymptotic tracking convergence. Rigorous analysis are presented along with a numerical example to show the effectiveness of the proposed controller.