Title :
Robust direct adaptive controllers with a new normalization technique
Author :
Feng, Gang ; Palaniswami, M.
Author_Institution :
Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia
fDate :
11/1/1994 12:00:00 AM
Abstract :
This note presents a robust direct adaptive control scheme with a new normalization technique and its stability analysis in the presence of unmodeled dynamics and/or bounded disturbances. Following input-output stability theory, L2 and L∞ stability of the system is studied using the sector stability and passivity theorems and conditions for global stability are derived. It is also shown that robustness of the adaptive control system can be improved when relative dead zone and the novel normalization technique are incorporated into the scheme
Keywords :
adaptive control; control system analysis; stability criteria; I/O stability theory; L∞ stability; L2 stability; bounded disturbances; global stability conditions; input-output stability theory; normalization technique; passivity theorems; relative dead zone; robust direct adaptive control; robustness; sector stability theorems; stability analysis; unmodeled dynamics; Adaptive control; Control systems; Delay effects; Polynomials; Programmable control; Robust control; Robust stability; Robustness; Signal analysis; Stability analysis;
Journal_Title :
Automatic Control, IEEE Transactions on
