Robust adaptive regulation without persistent excitation
Reads0
Chats0
TLDR
In this paper, a globally convergent adaptive regulator for minimum or non-minimum phase systems subject to bounded disturbances is presented, which uses a least-squares identification algorithm with a dead zone.Abstract:
A globally convergent adaptive regulator for minimum or nonminimum phase systems subject to bounded disturbances is presented. The control strategy is designed for a particular input-output representation obtained from the state-space representation of the system. The leading coefficient of the novel representation is the product of the observability and controllability matrices of the system. The controller scheme uses a least-squares identification algorithm with a dead zone. The dead zone is chosen to obtain convergence properties on the estimates and on the covariance matrix as well. This allows the definition of modified estimates which secure well-conditioned matrices in the adaptive control law. Explicit bounds on the plant output are given. >read more
Citations
More filters
Book
Control and Nonlinearity
TL;DR: In this article, the controllability and the stabilization of nonlinear control systems in finite and infinite dimensions are studied, with a focus on specific phenomena due to nonlinearities.
PatentDOI
Adaptive control based on retrospective cost optimization
TL;DR: In this paper, a discrete-time adaptive control law for stabilization, command following, and disturbance rejection that is effective for systems that are unstable, MIMO, and/or non-minimum phase is presented.
Journal ArticleDOI
A cyclic switching strategy for parameter-adaptive control
Felipe Pait,A.S. Morse +1 more
TL;DR: This paper introduces a new strategy, called "cyclic switching," to deal with the well-known certainty equivalence control synthesis problem which arises in the design of identifier-based adaptive controllers because of the existence of points in parameter space where the design model, /spl Sigma//sub D/, loses stabilizability.
Journal ArticleDOI
Adaptive pole placement without excitation probing signals
Rogelio Lozano,Xiao-Hui Zhao +1 more
TL;DR: This paper presents an indirect adaptive control scheme for linear systems which may possibly be a nonminimum phase and achieves asymptotical pole placement without either introducing persistent excitation probing signals into the systems or assuming any a priori knowledge on the plant parameters.
Adaptive control based on retrospective cost optimization
TL;DR: D discrete-time adaptive control laws are considered, since these control laws can be implemented directly in embedded code for sampled-data control systems without requiring an intermediate discretization step that may entail loss of stability margins.
References
More filters
Book
Adaptive filtering prediction and control
Graham C. Goodwin,Kwai Sang Sin +1 more
TL;DR: This unified survey focuses on linear discrete-time systems and explores the natural extensions to nonlinear systems and summarizes the theoretical and practical aspects of a large class of adaptive algorithms.
Journal ArticleDOI
Discrete-time multivariable adaptive control
TL;DR: In this paper, the authors established global convergence for a class of adaptive control algorithms applied to discrete time MIMO deterministic linear systems and showed that the algorithms will ensure that the system inputs and outputs remain bounded for all time and that the output tracking error converges to zero.
Journal ArticleDOI
Paper: Zeros of sampled systems
TL;DR: The zeros of the discrete time system obtained when sampling a continuous time system are explored and theorems for the limiting zeros for large and small sampling periods are given.
Journal ArticleDOI
Stable adaptive controller design, part II: Proof of stability
TL;DR: In this article, the output of the plant is shown to be bounded by expressing the plant feedback loop as an exponentially stable system with a time-varying gain in the feedback path.
Related Papers (5)
Stable adaptive regulation of arbitrary nth-order plants
A globally convergent adaptive pole placement algorithm without a persistency of excitation requirement
R. Lozano-Leal,Graham C. Goodwin +1 more