Adaptive Dynamic Inversion via Time-Scale Separation

Author

Hovakimyan, Naira ; Lavretsky, Eugene ; Cao, Chengyu

Author_Institution

Aerosp. & Ocean Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

1075

Lastpage

1080

Abstract

This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control systems. The adaptive dynamic inversion controller is defined as a solution of a fast dynamical equation, which achieves time-scale separation between a state predictor and the controller dynamics. Lyapunov based adaptive laws ensure that the state predictor tracks the actual nonlinear system with bounded errors. As a result, the system state tracks the reference model with bounded errors. Benefits of the proposed design method are demonstrated using Van der Pol dynamics with nonlinear control input

Keywords

Lyapunov methods; adaptive control; control system synthesis; nonlinear dynamical systems; uncertain systems; Lyapunov based adaptive laws; Van der Pol dynamics; adaptive dynamic inversion controller; bounded errors; controller dynamics; dynamical equation; nonaffine-in-control systems; nonlinear control input; nonlinear system; state predictor; time-scale separation; Adaptive control; Adaptive systems; Control systems; Linear approximation; Neural networks; Nonlinear dynamical systems; Nonlinear systems; Programmable control; USA Councils; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377287

Filename

4177118