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Output-feedback adaptive control for systems with time-varying parameters
File(s)
NOLCOS_2019_final_2.pdf (415.36 KB)
Accepted version
Author(s)
Chen, Kaiwen
Astolfi, Alessandro
Type
Conference Paper
Abstract
This paper investigates the output-feedback adaptive control problem, exploiting the so-called congelation of variables method, to achieve output regulation for systems with time-varying parameters. To overcome the coupling between the input and the time-varying parameters, a strong minimum-phase property, i.e. input-to-state stability (ISS) of the inverse dynamics, is assumed. This property allows replacing the original coupling with a new coupling between the output and the varying parameters, which can be dominated via backstepping. A set of high-gain Kreisselmeier filters is then designed to guarantee that the state estimation error dynamics are also ISS. Finally, implementing the backstepping controller with a strengthened nonlinear damping term guarantees that all trajectories of the closed-loop system are bounded and that the output converges to zero asymptotically.
Date Issued
2019-12-20
Date Acceptance
2019-12-01
Citation
IFAC-PapersOnLine, 2019, 52 (16), pp.586-591
URI
URL
DOI
ISSN
2405-8963
Publisher
Elsevier
Start Page
586
End Page
591
Journal / Book Title
IFAC-PapersOnLine
Volume
52
Issue
16
Copyright Statement
© 2019 Elsevier Ltd. All rights reserved. This manuscript is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licence http://creativecommons.org/licenses/by-nc-nd/4.0/
License URL
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000503828500100&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS)
Subjects
Science & Technology
Technology
Automation & Control Systems
Adaptive control
Backstepping
Time-varying systems
Output regulation
Minimum-phase systems
Publication Status
Published
Start Date
2019-09-04
Finish Date
2019-09-06
Coverage Spatial
Tech Univ Wien, Vienna, AUSTRIA
Date Publish Online
2019-12-20