Title :
Adaptive tracking control of a class of non-affine plants using dynamic feedback
Author :
Bogkovic, J.D. ; Chen, Lingji ; Mehra, Raman K.
Author_Institution :
Sci. Syst. Company, Inc, Woburn, MA, USA
Abstract :
In this paper we propose a systematic procedure for adaptive tracking control design for a class of nonlinear plants that are nonaffine in the control input. The procedure is based on differentiating the original state equation so that, in the augmented resulting model, the derivative of the control input appears linearly and is used as the new control variable. The resulting control strategy is referred to as the dynamic feedback control. While this idea is not new, in this paper we extend it to the case of unknown parameters that appear linearly in the state equation. The approach to adaptive control design is based on a. suitable coordinate transformation that results in an error model for which stable adaptive laws can be readily specified. The corresponding proofs of stability and robustness to time-varying parameters are included. The properties of the adaptive dynamic feedback controller are illustrated through computer simulations
Keywords :
adaptive control; control system synthesis; feedback; nonlinear control systems; robust control; time-varying systems; tracking; adaptive tracking control design; coordinate transformation; dynamic feedback; nonaffine plants; nonlinear plants; robustness; stable adaptive laws; state equation; time-varying parameters; unknown parameters; Adaptive control; Adaptive systems; Control design; Control systems; Differential equations; Feedback control; Nonlinear control systems; Nonlinear equations; Programmable control; Robust stability;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946120