Stable indirect adaptive control of continuous-time systems with no a priori knowledge on the parameters
Ημερομηνία
1993ISBN
0-08-041717-5Εκδότης
Publ by Pergamon Press IncSource
IFAC Symposia SeriesProceedings of the 4th International Federation of Automatic Control Symposium
Pages
163-168Google Scholar check
Keyword(s):
Metadata
Εμφάνιση πλήρους εγγραφήςΕπιτομή
A crucial drawback of indirect adaptive control is the stabilizability or controllability of the estimated plant model which is required in order to calculate the controller parameters. Loss of stabilizability at a particular instant of time may lead to unbounded signals. In this paper, we propose an indirect adaptive control scheme that overcomes the stabilizability problem, and meets the control objective exactly with no additional a priori knowledge on the unknown plant other than its order. The control scheme switches from the usual certainty equivalence control law to a rich open loop control input, according to an adjustable lower bound for the degree of stabilizability of the estimated plant model. The switching terminates in finite time after which no loss of stabilizability can occur, and the certainty equivalence control law is on for the rest of the time. In contrast to previous schemes, the proposed scheme, referred to as the switched-excitation approach, requires no knowledge of bounds for the stabilizability degree of the unknown plant and guarantees closed-loop stability and zero residual tracking error.
Collections
Cite as
Related items
Showing items related by title, author, creator and subject.
-
Article
Multiple model adaptive control with mixing
Kuipers, M.; Ioannou, Petros A. (2010)Despite the remarkable theoretical accomplishments and successful applications of adaptive control, the field is not sufficiently mature to solve challenging control problems where strict performance and robustness guarantees ...
-
Article
Robust adaptive attenuation of unknown periodic disturbances in uncertain multi-input multi-output systems
Jafari, S.; Ioannou, Petros A. (2016)In high-performance high-accuracy systems, the attenuation of vibrational disturbances is essential. In this paper, we design and analyze a robust output-feedback adaptive control scheme to attenuate noise-corrupted ...
-
Conference Object
Robust adaptive sliding control of linearizable systems
Xu, H.; Mirmirani, M.; Ioannou, Petros A.; Boussalis, Helen R. (2001)A switching adaptive control algorithm based on a sliding mode method is proposed for a class of single-input, single-output nonlinear systems with unknown dynamics. The plant is assumed to be linear-in-the-control input ...