Adaptive Control of Nonlinear Uncertain Dynamical Systems

Abstract

In this paper an algorithm is implemented for the control of uncertain nonlinear dynamical systems. The control algorithm is adaptive and consists of two phases. First, a system identification phase is implemented to develop a predictive model of the system based on its observed behavior. Second, a controller is designed to steer the predicted system response into a desired configuration. The control strategy to be presented in this paper is related to the well-known concepts of sliding mode control and variable structure control. Furthermore, the implementation of this control strategy utilizing smart materials is also addressed. Numerical examples are presented for the trajectory tracking and stabilization of uncertain nonlinear dynamical systems. Control strategies based on externally powered actuators and adaptive components are considered.