Analysis and simulation of adaptive control strategies for uncertain bio-inspired sensor systems

Abstract

We consider mechanical systems, that are not known precisely. In detail, we assume that the system parameters are unknown (uncertainty of system). Moreover, we allow for uncertainties
with respect to perturbations from the environment (ground excitations). Such (non-linearly perturbed) systems need adaptive controllers which achieve a pre-defined control objective. Almost all
known controllers offer the same drawback: (possibly unboundedly) monotonically increasing gain parameters. For application it is necessary to design improved adaptation laws. We present numerical
simulations of several models primarily in application to a bio-inspired sensor model.