I&I adaptive control for systems with 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 adaptive immersion and invariance (I&I) to adaptively control systems with varying parameters. A dynamic scaling estimator without overparameterization is proposed. This does not require solving partial differential equations and removes other restrictive assumptions in the classical I&I estimator design. A controller that guarantees input-to-state stability of the closed-loop system is then used. The joint estimator-controller design guarantees global stability of the adaptive closed-loop system, convergence of the plant state and global boundedness of the estimator state. A design example for the position/force control of a series elastic actuator is discussed. This exploits the idea that bounded nonlinearities in the system dynamics can be viewed as time-varying parameters. Simulation results show a well-damped transient response and illustrate the theoretical results.
Date Issued
2019-01-21
Date Acceptance
2018-12-17
Citation
2018 IEEE Conference on Decision and Control (CDC), 2019, pp.2205-2210
ISSN
0743-1546
Publisher
IEEE
Start Page
2205
End Page
2210
Journal / Book Title
2018 IEEE 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:000458114802011&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
57th IEEE Conference on Decision and Control (CDC)
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
SERIES-ELASTIC ACTUATOR
OUTPUT-FEEDBACK
STABILIZATION
ROBOT
Publication Status
Published
Start Date
2018-12-17
Finish Date
2018-12-19
Coverage Spatial
Miami Beach, FL