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I&I adaptive control for systems with varying parameters

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Title: I&I adaptive control for systems with varying parameters
Authors: Chen, K
Astolfi, A
Item 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.
Issue Date: 21-Jan-2019
Date of Acceptance: 17-Dec-2018
URI: http://hdl.handle.net/10044/1/89262
DOI: 10.1109/cdc.2018.8619564
ISSN: 0743-1546
Publisher: IEEE
Start Page: 2205
End Page: 2210
Journal / Book Title: 2018 IEEE Conference on Decision and Control (CDC)
Copyright Statement: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
Conference Name: 57th IEEE Conference on Decision and Control (CDC)
Keywords: Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
SERIES-ELASTIC ACTUATOR
OUTPUT-FEEDBACK
STABILIZATION
ROBOT
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
Conference Place: Miami Beach, FL
Appears in Collections:Electrical and Electronic Engineering