Adaptive Dynamic Inversion for Nonaffine-in-Control Uncertain Systems via Time-Scale Separation. Part II

Authors:
Eugene Lavretsky;Naira Hovakimyan
Affiliations:
The Boeing Company, Huntington Beach, USA 92647;Aerospace & Ocean Engineering, Virginia Polytechnic Institute & State University, Blacksburg, USA 24061-0203
Venue:
Journal of Dynamical and Control Systems
Year:
2008

Citing 1
Cited 2

Dynamic Inversion for Nonaffine-in-Control Systems via Time-Scale Separation. Part I

Journal of Dynamical and Control Systems

Dynamic Inversion for Nonaffine-in-Control Systems via Time-Scale Separation. Part I

Journal of Dynamical and Control Systems
Time-scale separation redesigns for stabilization and performance recovery of uncertain nonlinear systems

Automatica (Journal of IFAC)

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Abstract

This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control dynamical systems. Online approximation of the adaptive dynamic inversion controller is performed using time-scale separation. The resulting control signal is sought as a solution of a "fast" dynamical equation, which inverts a series-parallel model, whose state is shown to track the state of the original nonaffine-in-control system. The design methodology is constructive, and numerically verifiable sufficient conditions on the system parameters are given. A simulation example, motivated by aerospace applications, illustrates the theoretical results.