Output-feedback I&I adaptive control for linear systems with time-varying parameters
File(s)
Accepted version
Author(s)
Chen, Kaiwen
Astolfi, Alessandro
Type
Conference Paper
Abstract
This paper combines the so-called congelation of variables method with the adaptive immersion and invariance (I&I) approach to control linear single-input-single-output systems with time-varying parameters via output feedback. The system is first reparameterized using a pair of reduced-order filters and the reparameterization error dynamics show that the input is coupled with a time-varying perturbation. By exploiting the input-to-state stability (ISS) of the inverse dynamics, which is regarded as a counterpart in the time-varying setting of the classical minimum-phase property, the coupling between the input and the time-varying perturbation is transformed into a coupling between the output and another time-varying perturbation that can be dominated in the controller design stage. A pair of high-gain filters are then implemented so that the reparameterization error dynamics are ISS. Finally, output regulation is achieved by strengthened damping design, which invokes a small-gain-like argument from a Lyapunov perspective.
Date Issued
2020-03-12
Date Acceptance
2020-03-01
Citation
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), 2020, pp.1965-1970
ISSN
0743-1546
Publisher
IEEE
Start Page
1965
End Page
1970
Journal / Book Title
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC)
Copyright Statement
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Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000560779001136&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
58th IEEE Conference on Decision and Control (CDC)
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Publication Status
Published
Start Date
2019-12-11
Finish Date
2019-12-13
Coverage Spatial
Nice, FRANCE
Date Publish Online
2020-03-12