Tuning function design for nonlinear adaptive control systems with multiple unknown control directions

• Autores: Chao Huang, Changbin (Brad) Yu
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 89, 2018, págs. 259-265
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • To overcome the drawback of overparametrization in existing nonlinear adaptive control design with multiple unknown control directions, we propose a new algorithm which combines nonlinear integrator backstepping, tuning function design and a logic-based switching mechanism that tunes the control directions online in a switching manner. Global asymptotic tracking control is achieved for parametric-strict-feedback systems without overparametrization. The logic-based switching criterion is based on monitoring incremental errors caused during two consecutive switching moments, and thus can identify the true control direction quickly.