Adaptive Control Algorithm for Linear Systems with Matched and Unmatched Uncertainties

YAYLA M., KUTAY A. T.

55th IEEE Conference on Decision and Control (CDC), Nevada, Amerika Birleşik Devletleri, 12 - 14 Aralık 2016, ss.2975-2980 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Nevada
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.2975-2980
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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.