Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking
Systems and Control
2020-07-24 v1 Systems and Control
Abstract
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the error (RISE)-like term in the adaptation law which compensates for potentially destabilizing terms in the closed-loop error system arising from the time-varying nature of uncertain parameters. A Lyapunov-based stability analysis ensures asymptotic tracking, and boundedness of the closed-loop signals.
Cite
@article{arxiv.2007.11801,
title = {Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking},
author = {Omkar Sudhir Patil and Runhan Sun and Shubhendu Bhasin and Warren E. Dixon},
journal= {arXiv preprint arXiv:2007.11801},
year = {2020}
}
Comments
6 pages