b12a21u - b22a11u (b11b22 -b21b12)u 2

(b11b22 - b21b12)u b21anu bna21u (b11b22 - b21b12)u2 bg

(b11b22 - b21b12)u 2

Since all the pi s include uncertainties, the control law is modified as follows:


where P represents parameter estimations, and the servo signals u and v are defined as before. The next step is to derive the adaptation law.

Let the estimation error of parameters be P i = pi - Pi . One can find the error dynamics by substituting (34) and (35) into the system dynamic equations. This results

Was this article helpful?

0 0
Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

Post a comment