Adaptive Control of Nonlinear Systems with Applications to Flight Control Systems and Suspension Dynamics.

摘要

In this dissertation, we employ recent theoretical advances in differential geometric formulation of nonlinear control theory and adaptive control to develop a practical adaptive nonlinear control strategy. We first present a new scheme for tracking and decoupling of multi-input/multi- output nonlinear systems with parametric uncertainty in their dynamics. We obtain an adaptive right-inverse that can be used as a decoupling prefilter for the original system and to generate the input necessary such that the outputs track a desired path. The procedures are systematic and have been implemented into a computer code.