© The Institution of Engineering and Technology
Verifiable sufficient conditions for parameter convergence of a class of adaptive input-output linearisable systems with unknown parameters, including those affine with the control input, are provided. Certainty-equivalent adaptive control has solved the tracking problem for a wider class of systems; however, parameter convergence has not so far been verified a priori. By taking advantage of the obtained asymptotic tracking stability and the vanishing time derivatives of the estimated parameters, it is found that it can indeed be checked beforehand provided some mild assumptions are satisfied. The results are then applied directly to a Chua's circuit to demonstrate their utility.
References
-
-
1)
-
J.J. Craig ,
P. Hsu ,
S. Sastry
.
Adaptive control of mechanical manipulators.
Int. J. Rob. Res.
,
2 ,
16 -
28
-
2)
-
S. Sastry ,
A. Isidori
.
Adaptive control of linearisable systems.
IEEE Trans. Autom. Control
,
11 ,
1123 -
1131
-
3)
-
Huang, J.T.: `On parameter convergence of adaptive fully linearizble systems', Proc. American Control Conf., June 2004, Boston, MA, p. 1929–1933.
-
4)
-
J.A. Rechards
.
(1983)
Analysis of periodically time varying systems.
-
5)
-
K.S. Narendra ,
A.M. Annaswamy
.
(1989)
Stable adaptive systems.
-
6)
-
S.-C. Joseph ,
W.M. Wonham
.
Probing signals for model reference identification.
IEEE Trans. Autom. Control.
,
4 ,
530 -
538
-
7)
-
M. Krstic ,
I. Kanellakopoulos ,
P.V. Kokotovic
.
(1995)
Nonlinear and adaptive control design.
-
8)
-
A.P. Morgan ,
K.S. Narendra
.
On the stability of nonautonomous differential equation ẋ=[A+B(t)]x with skew-symmetric matrix B(t).
SIAM J. Control Optim.
,
1 ,
163 -
176
-
9)
-
A. Isidori
.
(1989)
Nonlinear control systems.
-
10)
-
B.D.O. Anderson
.
Exponential stability of linear equations arising in adaptive identification.
IEEE Trans. Autom. Control
,
1 ,
83 -
88
-
11)
-
S. Boyd ,
S. Sastry
.
Necessary and sufficient conditions for parameter convergence in adaptive control.
Automatica
,
6 ,
629 -
639
-
12)
-
W.J. Rugh
.
(1996)
Linear system theory.
-
13)
-
S.S. Ge ,
C. Wang
.
Adaptive control of uncertain Chua's circuits.
IEEE Trans. Circuits Syst. I
,
9 ,
1397 -
1402
-
14)
-
E.B. Kosmatopoulos ,
P.A. Ioannou
.
A switching adaptive controller for feedback linearizable systems.
IEEE Trans. Autom. Control
,
4 ,
742 -
750
-
15)
-
J.S. Lin ,
I. Kanellakopoulos
.
Nonlinearities enhance parameter convergence in strict feedback systems.
IEEE Trans. Autom. Control
,
1 ,
89 -
94
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta_20060130
Related content
content/journals/10.1049/iet-cta_20060130
pub_keyword,iet_inspecKeyword,pub_concept
6
6