Adaptive control for nonlinear systems with time-varying parameters and control coefficient
File(s)
Published version
Author(s)
Chen, Kaiwen
Astolfi, Alessandro
Type
Conference Paper
Abstract
This paper exploits the so-called congelation of variables method to design an adaptive controller for nonlinear systems with time-varying parameters. Two motivating examples describing scalar systems are discussed to illustrate the flexibility of the congelation of variables method to deal with the cases in which the time-varying parameters are coupled with the state and with the input, respectively. Interpretations from a passivity perspective are also provided. Then design procedures are derived for general nonlinear systems in parametric strict-feedback form, and it is shown that the state of the underlying system converges to the origin and all signals of the closed-loop system remain bounded. Simulations show that, in the presence of parameter variations, the performance of the proposed controller is superior to that of the classical adaptive controller designed for time-invariant systems.
Date Issued
2020-07-11
Date Acceptance
2020-02-26
Citation
IFAC-PapersOnLine, 2020, 53 (2), pp.3829-3834
ISSN
2405-8963
Publisher
Elsevier
Start Page
3829
End Page
3834
Journal / Book Title
IFAC-PapersOnLine
Volume
53
Issue
2
Copyright Statement
© 2020 The Author(s). This is an open access article under a CC-BY-NC-ND License (https://creativecommons.org/licenses/by-nc/4.0/)
License URL
Sponsor
Commission of the European Communities
Grant Number
664639
Source
IFAC World Congress 2020
Publication Status
Published
Start Date
2020-07-11
Finish Date
2020-07-17
Coverage Spatial
Virtual
Date Publish Online
2021-04-14