DocumentCode :
3266108
Title :
Non-Lipschitz continuous adaptive regulation of nonlinear systems with uncontrollable unstable linearization
Author :
Back, Juhoon ; Jo, Nam H. ; Seo, Jin H.
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., South Korea
Volume :
4
fYear :
2002
fDate :
10-13 Dec. 2002
Firstpage :
3825
Abstract :
Adaptive regulation problem is solved for a class of nonlinear systems whose Jacobian linearization may have uncontrollable modes with eigenvalues lying on the right half-plane. By proposing a continuous version of the LaSalle-Yoshizawa theorem and using the technique of adding a power integrator, we developed a constructive design tool that solves the adaptive regulation problem under continuous framework. We designed a C0 adaptive control input, an update law for unknown parameters, and a C1 control Lyapunov function which is positive definite and proper. A physical example is provided to illustrate the proposed adaptive control schemes.
Keywords :
Jacobian matrices; Lyapunov methods; adaptive control; controllability; eigenvalues and eigenfunctions; feedback; linearisation techniques; nonlinear systems; Jacobian linearization; LaSalle-Yoshizawa theorem; Lyapunov function; adaptive control input; adaptive regulation problem; constructive design tool; continuous framework; eigenvalues; nonLipschitz continuous adaptive regulation; nonlinear systems; positive definite; power integrator; right half plane; uncontrollable modes; uncontrollable unstable linearization; unknown parameters; update law; Adaptive control; Computer science; Control systems; Ear; Eigenvalues and eigenfunctions; Jacobian matrices; Nonlinear control systems; Nonlinear systems; Power engineering and energy; Programmable control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN :
0191-2216
Print_ISBN :
0-7803-7516-5
Type :
conf
DOI :
10.1109/CDC.2002.1184961
Filename :
1184961
Link To Document :
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