Robust adaptive control for nonlinear uncertain systems

Author

Haddad, Wassim M. ; Chellaboina, Vijay Sekhar ; Hayakaw, Tomohisa

Author_Institution

Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1615

Abstract

A direct robust adaptive control framework for nonlinear uncertain systems with constant linearly parameterized uncertainty and nonlinear state-dependent uncertainty is developed. The proposed framework is Lyapunov-based and guarantees partial asymptotic robust stability of the closed-loop system; that is, asymptotic robust stability with respect to part of the closed-loop system states associated with the plant. Finally, a numerical example is provided to demonstrate the efficacy of the proposed approach

Keywords

adaptive control; asymptotic stability; closed loop systems; nonlinear control systems; robust control; uncertain systems; Lyapunov-based stability; asymptotic robust stability; closed-loop system; constant linearly parameterized uncertainty; nonlinear state-dependent uncertainty; nonlinear uncertain systems; robust adaptive control; Adaptive control; Aerospace engineering; Control systems; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Robust control; Robust stability; Uncertain systems; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.981132

Filename

981132