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Adaptive output feedback tracking for nonlinear systems with time-varying parameters

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2 Author(s)
Marino, R. ; Dipt. di Ingegneria Elettronica, Rome Univ., Italy ; Tomei, P.

We consider a class of single-input, single-output nonlinear systems with uncertain differentiable time varying parameters θ(t)=(θ1(t),...,θp(t)) belonging to a known compact set whose time-derivative θ˙(t) is not restricted to be small or to have known bounds. In particular, the assumption of slowly time-varying parameters, which is always made in the linear adaptive literature, is not required here. Given a smooth bounded reference signal yr(t) for the output y, we design an adaptive output feedback control algorithm such that for any initial condition all signals are bounded, when θ˙(t)=≠0, i.e. θ(t) is constant, asymptotic tracking is guaranteed with arbitrarily good transient performance in terms of both L2 and L tracking error norms; and when θ˙(t)≠0, the influence of the parameter estimation error and parameter time derivatives on the tracking error is arbitrarily attenuated

Published in:

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on  (Volume:3 )

Date of Conference:

10-12 Dec 1997