Adaptive Control Algorithm for Linear Systems with Matched and Unmatched Uncertainties
55th IEEE Conference on Decision and Control (CDC), Nevada, United States Of America, 12 - 14 December 2016, pp.2975-2980, (Full Text)
- Publication Type: Conference Paper / Full Text
- City: Nevada
- Country: United States Of America
- Page Numbers: pp.2975-2980
- Middle East Technical University Affiliated: Yes
Abstract
In this paper, a new uncertainty identification method is introduced for both matched and unmatched uncertainties in an uncertain dynamical system. Online identifications of matched and unmatched uncertainties that can be linearly parameterized are ensured without requiring persistent excitation (PE) condition. Furthermore, constant weight matrices that parameterizes the unstructured uncertainties are guaranteed to stay bounded without PE. Findings are implemented on a hybrid adaptive control design, and global exponential stability is established.