ece6554:project_ballbeam
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| ece6554:project_ballbeam [2019/04/20 20:20] – [Linear Adaptive Control] pvela | ece6554:project_ballbeam [2024/08/20 21:38] (current) – external edit 127.0.0.1 | ||
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| - | ==== Step 3: Nonlinear Adaptive Backstepping ==== | + | ===== Step 3: Nonlinear Adaptive Backstepping |
| **This Step should not be done for ECE6554 Spring 2019. Only complete Steps 1 + 2.** | **This Step should not be done for ECE6554 Spring 2019. Only complete Steps 1 + 2.** | ||
| Line 113: | Line 113: | ||
| Translate the linear adaptive backstepping strategy to the nonlinear system. Start with the vanilla nonlinear backstepping method, then make it adaptive. | Translate the linear adaptive backstepping strategy to the nonlinear system. Start with the vanilla nonlinear backstepping method, then make it adaptive. | ||
| - | === Nonlinear Model Inversion with Backstepping === | + | ==== Nonlinear Model Inversion with Backstepping |
| Consider the nonlinearities of the system and identify a backstepping approach to controlling the system. Get the baseline backstepping method working. | Consider the nonlinearities of the system and identify a backstepping approach to controlling the system. Get the baseline backstepping method working. | ||
| - | === Nonlinear Model Inversion with Adaptive Backstepping == | + | ==== Nonlinear Model Inversion with Adaptive Backstepping |
| Add in adaptation to the backstepping controller, using the same 15% perturbed model. | Add in adaptation to the backstepping controller, using the same 15% perturbed model. | ||
ece6554/project_ballbeam.1555806043.txt.gz · Last modified: 2024/08/20 21:38 (external edit)