scispace - formally typeset
Search or ask a question
Journal Article

Design of robust adaptive controller based on the control Lyapunov function

TL;DR: The problem of adaptive stabilization for a class of nonlinear systems with unknown parameters both in state vector and control vector is studied by employing the robust control Lyapunov function and parameter projection techniques.
Abstract: The problem of adaptive stabilization for a class of nonlinear systems with unknown parameters both in state vector and control vector is studied.By employing the robust control Lyapunov function and parameter projection techniques,the problem of adaptive stabilization is discussed according to I-ARCLF and Ⅱ-ARCLF of the system,and two adaptive controllers are designed to realize stabilization,respectively.
Citations
More filters
Proceedings ArticleDOI
25 Jul 2015

4 citations


Cites background from "Design of robust adaptive controlle..."

  • ...For convenience of the following analysis, an assumption is proposed: Assumption 1: The sign of function g(z) is known, and without loss of generality, assume 0)( >zg and that there are given functions )(1 zM g and )(2 zM g that make f(z) and g(z) satisfy the following inequalities: )()( zMzf f≤ )()()(0 21 zMzgzM gg ≤≤ Definition 1: The operator Proj[8] has the following form: others 0 0, 0 0, 0 )(Pr maxi mini...

    [...]

  • ...In the end, choose the parameter vector θ ’s self adaptive law: 1 2 1 1 3 1 2 2 3 2 Proj ( ( )) Proj ( ( ) )ce r s h x r s h x u θ θ θ θ = = & & (24) Where r1 and r2 are the learning rates....

    [...]

  • ...The properties of operator Proj is shown as follows: (1) }ˆ|ˆ{ˆ maxminˆ θθθθθ θ ≤≤=Ω∈ (2) yyyoj ∀≤−− ,0))()(Prˆ( θ̂ θθ In order to deal with the unknown nonlinear system, a control law based on fuzzy logic control with input singleton fuzzification, product inference and center average defuzzification, is established....

    [...]

  • ...For convenience of the following analysis, an assumption is proposed: Assumption 1: The sign of function g(z) is known, and without loss of generality, assume 0 ) ( > z g and that there are given functions ) ( 1 z M g and ) ( 2 z M g that make f(z) and g(z) satisfy the following inequalities: ) ( ) ( z M z f f ≤ ) ( ) ( ) ( 0 2 1 z M z g z M g g ≤ ≤ < Definition 1: The operator Proj[8] has the following form:...

    [...]

References
More filters