Abstract:
This article proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While maj...Show MoreMetadata
Abstract:
This article proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of constant parameters, recent research has conceptualized improved adaptive control techniques for time-varying systems with rigorous stability proofs. The proposed work is an effort toward a similar direction, where a novel dual adaptation mechanism is introduced to efficiently tackle the time-varying nature of the parameters. Projection and \sigma-modification algorithms are strategically combined using congelation of variables to claim a global result for the tracking error space. While the classical adaptive systems demand a restrictive condition of persistence of excitation (PE) for accurate parameter estimation, the proposed work relies on a milder condition, called initial excitation (IE) for the same. A rigorous Lyapunov stability analysis is carried out to establish boundedness of the closed-loop system with a tighter ultimate bound compared to existing results. Further, it is analytically shown that the proposed work can recover the performance of previously designed IE-based adaptive controller in case of time invariant systems.
Published in: IEEE Transactions on Automatic Control ( Volume: 70, Issue: 1, January 2025)
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- IEEE Keywords
- Index Terms
- Adaptive Control ,
- Time-varying Systems ,
- Adaptive Control For Systems ,
- Dual Adaptation ,
- Parameter Estimates ,
- System Dynamics ,
- Mild Conditions ,
- Limited Conditions ,
- Tracking Error ,
- Adaptive Technique ,
- Dual Mechanism ,
- Time-varying Parameters ,
- Persistent Excitation ,
- Ultimate Boundedness ,
- Schemes In The Literature ,
- Adaptive Control Technique ,
- Optimal Control ,
- Control Input ,
- Unknown Parameters ,
- Reference Model ,
- Time-varying Components ,
- External Input ,
- Closed-loop Dynamics ,
- Component Parameters ,
- Update Law ,
- Parameter Convergence
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Adaptive Control ,
- Time-varying Systems ,
- Adaptive Control For Systems ,
- Dual Adaptation ,
- Parameter Estimates ,
- System Dynamics ,
- Mild Conditions ,
- Limited Conditions ,
- Tracking Error ,
- Adaptive Technique ,
- Dual Mechanism ,
- Time-varying Parameters ,
- Persistent Excitation ,
- Ultimate Boundedness ,
- Schemes In The Literature ,
- Adaptive Control Technique ,
- Optimal Control ,
- Control Input ,
- Unknown Parameters ,
- Reference Model ,
- Time-varying Components ,
- External Input ,
- Closed-loop Dynamics ,
- Component Parameters ,
- Update Law ,
- Parameter Convergence
- Author Keywords