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A Stable Adaptive Observer for a Class of Nonlinear Second Order Systems

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Analysis and Optimization of Systems

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 83))

Abstract

We consider a class of single input single output second order nonlinear systems whose coefficients are bounded and have bounded time-variation. We describe an adaptive observer/identifier for these systems and derive sufficient conditions on the system and on the inputs that guarantee global stability of this adaptive observer. We present an application to a robot manipulator with two degrees of freedom.

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References

  • Anderson B.D.O., Bitmead R.R., Johnson C.R.Jr., Kokotovic P.V., Kosut R.L., Mareels I.M.Y., Praly L. and Riedle B.D., “Stability of Adaptive Systems: Passivity and Averaging Analysis”, MIT Press, 1986.

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Author information

Authors and Affiliations

  1. Department of Systems Engineering, Research School of Physical Sciences, Australian National University, G.P.O. Box 4, Canberra, ACT 2601, Australia

    Michel Gevers

  2. Dynamique et Analyse des Systemes, Louvain University, Louvain la Neuve, Belgium

    Georges Bastin

Authors
  1. Michel Gevers
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  2. Georges Bastin
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Editor information

Editors and Affiliations

  1. Institut National de Recherche en Informatique et en Automatique, INRIA, Domaine de Voluceau, Rocquencourt, B.P. 105, 78153, Le Chesnay, France

    A. Bensoussan  & J. L. Lions  & 

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© 1986 Springer Science+Business Media Dordrecht

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Gevers, M., Bastin, G. (1986). A Stable Adaptive Observer for a Class of Nonlinear Second Order Systems. In: Bensoussan, A., Lions, J.L. (eds) Analysis and Optimization of Systems. Lecture Notes in Control and Information Sciences, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0007554

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  • DOI: https://doi.org/10.1007/BFb0007554

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-16729-7

  • Online ISBN: 978-3-540-39856-1

  • eBook Packages: Springer Book Archive

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