Title :
An adaptive approach to Lyapunov design in nonlinear optimal stabilization problems
Author :
Freeman, Randy A.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
Abstract :
A time-varying/dynamic compensation strategy for nonlinear systems is proposed which adaptively selects one controller from a parametrized family of Lyapunov-based stabilizing controllers. The purpose of the adaptation is to reduce the value of a given cost functional, but stability is guaranteed regardless of whether or not errors in computing the parameter update preclude such cost reduction. A simulation study illustrates the potential of this adaptive scheme
Keywords :
nonlinear control systems; Lyapunov method; adaptive control; cost functional; dynamic compensation; nonlinear systems; optimal control; stabilization; state feedback; time-varying systems; Control systems; Cost function; Design methodology; Design optimization; Linear systems; Nonlinear control systems; Nonlinear systems; Optimal control; Optimization methods; State feedback;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657131
