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arXiv · 2007.11801

Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking

Omkar Sudhir Patil·Runhan Sun·Shubhendu Bhasin·Warren E. Dixon
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Abstract

A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the error (RISE)-like term in the adaptation law which compensates for potentially destabilizing terms in the closed-loop error system arising from the time-varying nature of uncertain parameters. A Lyapunov-based stability analysis ensures asymptotic tracking, and boundedness of the closed-loop signals.

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Omkar Sudhir Patil, Runhan Sun, Shubhendu Bhasin, Warren E. Dixon. 2020-07-23. Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking. https://arxiv.org/abs/2007.11801

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