ADAPTIVE-CONTROL OF NONLINEAR UNCERTAIN DYNAMICAL-SYSTEMS

In this paper an algorithm is implemented for the control of uncertain nonlinear dynamical systems. The control algorithm is adaptive and co nsists of two phases. First, a system identification phase is implemen ted to develop a predictive model of the system based on its observed behavior. Second, a controller is designed to steer the predicted syst em response into a desired configuration. The control strategy to be p resented in this paper is related to the well-known concepts of slidin g mode control and variable structure control. Furthermore, the implem entation of this control strategy utilizing smart materials is also ad dressed. Numerical examples are presented for the trajectory tracking and stabilization of uncertain nonlinear dynamical systems. Control st rategies based on externally powered actuators and adaptive components are considered.