Nonlinear model reference adaptive control

Abstract

Abstract The known linear model reference adaptive control (MRAC) technique is extended to cover nonlinear and nonlinearizable systems (several equilibria, etc) and used to stabilize the system about a model. The method proposed applies the same Liapunov Design Technique but avoids the classical error equation. Instead it operates in the product of the state spaces of plant and model, aiming at convergence to a diagonal set. Control program, Liapunov functions and adaptive law are specified. The case is illustrated on a two-degrees of freedom robotic manipulator.