Composite Adaptive Control of Uncertain Nonlinear Systems Using Immersion and Invariance Method

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	Composite Adaptive Control of Uncertain Nonlinear Systems Using Immersion and Invariance Method
	Liu, Zhen1 ; Han, Chao1,2 ; Yuan, Ruyi1 ; Fan, Guoliang1 ; Yi, Jianqiang1
	2017-08
会议名称	2017 IEEE International Conference on Mechatronics and Automation
页码	1144–1149
会议日期	August 6-9
会议地点	Takamatsu, Japan
摘要	The design of a novel composite adaptive control system for a class of uncertain systems using immersion and invariance (I&I) theory is presented. The interest here is to achieve a composite I&I adaptive control in the presence of model parametric uncertainties. Two sources of parameter information are combined for the parameter adaptation, which consists of tracking-error based adaptation law and prediction-error based adaptation law. Particularly, the tracking-error based adaptation law is constructed using I&I theory, which leads to a more flexible and effective design process of adaptation law. Stability analysis is presented using Lyapunov theory. Representative simulations are carried out on the mass-damper-spring system, which illustrate the superiority of the proposed composite I&I control scheme over the standard one.
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/15376
专题	综合信息系统研究中心
作者单位	1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhen Liu, Chao Han, Ruyi Yuan, et al. Composite Adaptive Control of Uncertain Nonlinear Systems Using Immersion and Invariance Method[C]. in Proceedings of 2017 IEEE International Conference on Mechatronics and Automation. Takamatsu, Japan. August 6-9, 2017: 1144–1149.

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