Adaptive regulation of nonlinear systems with unmodeled dynamics

Author

Taylor, David G. ; Kokotovic, Petar V. ; Marino, Riccardo ; Kannellakopoulos, I.

Author_Institution

Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

34

Issue

4

fYear

1989

fDate

4/1/1989 12:00:00 AM

Firstpage

405

Lastpage

412

Abstract

A feedback linearization design is presented which includes unknown parameters and unmodeled dynamics. An adaptive update law which counteracts the effects of unknown parameters is shown to be robust to the unmodeled dynamics. The proposed design methodology is based on a conceptually simple stability analysis. Conditions are given for global stability of an adaptive control law designed for the reduced-order model of a class of nonlinear plants. In the presence of unmodeled dynamics, the regulation property is preserved in a stability region. The size of the region is estimated using bounds that not only prove robustness, but also allow a comparison between adaptive and nonadaptive nonlinear controls

Keywords

adaptive control; control system synthesis; feedback; nonlinear systems; stability; adaptive control; design; feedback linearization; nonlinear systems; reduced-order model; robustness; stability; unmodeled dynamics; Adaptive control; Design methodology; Feedback; Nonlinear systems; Programmable control; Reduced order systems; Robust control; Robustness; Size control; Stability analysis;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.28015

Filename

28015