4 papers
Stability of Lyapunov redesign trajectory tracking control with unbounded perturbations -- A tube-based stability analysis
Niclas Tietze, Kai Wulff, Johann Reger
Considering a nonlinear system in Byrnes-Isidori form that is subject to unbounded perturbations, we apply Lyapunov redesign via feedback linearisation for trajectory tracking. Lev…
High-gain model-following control for trajectory tracking
Nicals Tietze, Kai Wulff, Johann Reger
We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated b…
Trajectory tracking model-following control using Lyapunov redesign with output time-derivatives to compensate unmatched uncertainties
Niclas Tietze, Kai Wulff, Johann Reger
We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation con…
Indirect Adaptive Control Using a Static Update Law
Tom Kaufmann, Johann Reger
The update law in the indirect adaptive control scheme can be extended to include feedthrough of an error term. This reduces undesired oscillations of the calculated weights. When…