A robust adaptive controller without apriori knowledge from modelling errors

Author

Wen, Changyun ; Soh, Yeng Chai

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore

Volume

1

fYear

1996

fDate

11-13 Dec 1996

Firstpage

843

Abstract

This paper presents a design approach of robust adaptive controllers using the techniques of backstepping and parameter projection. With this design scheme, no a priori knowledge on the unmodelled dynamics is required for controller implementation. It is shown that, global stability of the system is guaranteed in the presence of unmodelled dynamics and bounded external disturbances. A bound for the output tracking error is obtained as a function of the sizes of the unmodelled dynamics and external disturbances. In the ideal case where there is no modelling error, perfect tracking is ensured

Keywords

adaptive control; control system synthesis; robust control; stability criteria; backstepping; bounded external disturbances; global stability; modelling errors; output tracking error; parameter projection; perfect tracking; robust adaptive controller; unmodelled dynamics; Adaptive control; Adaptive systems; Backstepping; Control systems; Design engineering; Error correction; Filters; Programmable control; Robust control; Robust stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.574520

Filename

574520