Adaptive control of mechanical manipulators
Adaptive control of mechanical manipulators
Adaptive control: stability, convergence, and robustness
Adaptive control: stability, convergence, and robustness
Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Robust adaptive control
Nonlinear control design: geometric, adaptive and robust
Nonlinear control design: geometric, adaptive and robust
Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
Automatica (Journal of IFAC)
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Automatica (Journal of IFAC)
Brief Paper: Robustness of Adaptive Nonlinear Control to Bounded Uncertainties
Automatica (Journal of IFAC)
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In this paper, we study adaptive control redesign problem of polynomial nonlinear systems with matching parametric uncertainties. By transforming the system into its corresponding error dynamics, we will develop an adaptive control scheme in attenuating the effect of the unknown parameters on the controlled output, which is composed of tracking errors and control efforts. To achieve better controlled performance, the Lyapunov functions will be relaxed from quadratic to higher order and the resulting controller gain is generalized from constant to parameter dependent. The synthesis conditions of adaptive control will be formulated as polynomial matrix inequalities and are solvable by recast the resulting conditions into a Sum of Squares (SOS) optimization problem, from which the adaptive control law as well as the parameter adaptation law are derived with zero tracking and parameter estimation errors. An example is provided to demonstrate effectiveness of the proposed adaptive control redesign approach.