Improved transient performance of nonlinear adaptive backstepping using estimator resetting based on multiple models

Author

Kalkkuhl, Jens ; Johansen, Tor A. ; Lüdemann, Jens

Author_Institution

DaimlerChrysler Res. & Technol., Stuttgart, Germany

Volume

47

Issue

1

fYear

2002

fDate

1/1/2002 12:00:00 AM

Firstpage

136

Lastpage

140

Abstract

It is proved that the the transient performance of nonlinear adaptive backstepping can be improved by re-setting the parameter estimator, without loss of stability. The estimator re-setting algorithm is based on multiple-model adaptive control, where a number of models with fixed parameter vectors are monitored online in order to detect a parameter vector that gives a negative jump in the control Lyapunov function when replacing the estimate provided by the standard adaptation law. An application to wheel slip control is studied

Keywords

Lyapunov methods; braking; mechanical variables control; model reference adaptive control systems; nonlinear control systems; parameter estimation; performance index; road vehicles; sliding friction; stability; transient analysis; adaptation law; control Lyapunov function negative jump; fixed parameter vectors; multiple model adaptive control; nonlinear adaptive backstepping; online monitoring; parameter estimator resetting algorithm; parameter vectors; stability; switched systems; transient performance; wheel slip control; Automata; Automatic control; Backstepping; Discrete event systems; Law; Legal factors; Polynomials; Robust control; State-space methods; Supervisory control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.981733

Filename

981733