Knowledge Commons of Institute of Automation,CAS
Immersion and Invariance Based Composite Adaptive Control for Nonlinear Systems with Both Parametric and Non-Parametric Uncertainties | |
Zhen Liu![]() ![]() ![]() ![]() ![]() | |
2020-07 | |
会议名称 | IFAC World Congress |
会议日期 | 2020.7.12-17 |
会议地点 | Berlin, Germany |
出版者 | Elsevier |
摘要 | The design of an immersion and invariance (I&I) based composite adaptive control for a class of uncertain nonlinear systems is presented in this paper. The key feature of this control scheme lies in the construction of the novel adaptive laws, aiming to address both parametric and non-parametric uncertainties simultaneously. Composite adaptive laws, which are driven by both the information of tracking error and prediction error, are first proposed using I&I theory for the estimations of parametric uncertainties. Then the technique of σ-modification is used to guarantee the stability in the presence of non-parametric uncertainties. Stability analysis is presented using the Lyapunov theory. Improved performance of the proposed control scheme is observed via numerical simulations. |
七大方向——子方向分类 | 智能控制 |
国重实验室规划方向分类 | 智能计算与学习 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57429 |
专题 | 复杂系统认知与决策实验室_听觉模型与认知计算 |
作者单位 | 中国科学院自动化研究所 |
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,Zhiqiang Pu,Tenghai Qiu,et al. Immersion and Invariance Based Composite Adaptive Control for Nonlinear Systems with Both Parametric and Non-Parametric Uncertainties[C]:Elsevier,2020. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Immersion and Invari(1554KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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