Abstract:
We study in this paper the problem of adaptive trajectory tracking control for nonlinear systems affine in the control with time-varying parametric uncertainties. We prop...Show MoreMetadata
Abstract:
We study in this paper the problem of adaptive trajectory tracking control for nonlinear systems affine in the control with time-varying parametric uncertainties. We propose to use a modular approach, in the sense that we first design a robust nonlinear state feedback which renders the closed loop input to state stable (ISS) between an estimation error of the uncertain parameters and an output tracking error. Next, we complement this robust ISS controller with a model-free extremum seeking (ES) algorithm to estimate the time-varying model uncertainties. The combination of the ISS feedback and the ES algorithm gives an indirect adaptive controller. We show the efficiency of this approach on a two-link robot manipulator example.
Published in: 2015 European Control Conference (ECC)
Date of Conference: 15-17 July 2015
Date Added to IEEE Xplore: 23 November 2015
ISBN Information:
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- IEEE Keywords
- Index Terms
- Nonlinear Systems ,
- Adaptive Control ,
- Control Of Nonlinear Systems ,
- Time-varying Uncertainties ,
- Indirect Adaptive Control ,
- Estimation Error ,
- Control Problem ,
- Model Uncertainty ,
- Robust Control ,
- Tracking Error ,
- Error Parameters ,
- State Feedback ,
- Modular Approach ,
- Parameter Estimates ,
- Cost Function ,
- Unknown Parameters ,
- Asymptotically Stable ,
- Vector Field ,
- Control Objective ,
- Uncertain Model ,
- Error Dynamics ,
- Nonlinear Control ,
- Additional Uncertainty ,
- Nominal Control ,
- Time-dependent Term ,
- Closed-loop Dynamics ,
- Uncertain Nonlinear Systems ,
- System Input
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Nonlinear Systems ,
- Adaptive Control ,
- Control Of Nonlinear Systems ,
- Time-varying Uncertainties ,
- Indirect Adaptive Control ,
- Estimation Error ,
- Control Problem ,
- Model Uncertainty ,
- Robust Control ,
- Tracking Error ,
- Error Parameters ,
- State Feedback ,
- Modular Approach ,
- Parameter Estimates ,
- Cost Function ,
- Unknown Parameters ,
- Asymptotically Stable ,
- Vector Field ,
- Control Objective ,
- Uncertain Model ,
- Error Dynamics ,
- Nonlinear Control ,
- Additional Uncertainty ,
- Nominal Control ,
- Time-dependent Term ,
- Closed-loop Dynamics ,
- Uncertain Nonlinear Systems ,
- System Input