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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
Conference Name2017 IEEE International Conference on Mechatronics and Automation
Pages1144–1149
Conference DateAugust 6-9
Conference PlaceTakamatsu, Japan
Abstract
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.
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15376
Collection综合信息系统研究中心
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
Recommended Citation
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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