Dynamic Adaptation Gains for Nonlinear Systems With Unmatched Uncertainties
Name
2311.05082v1.pdf
Description
Accepted version
Size
1.2 MB
Format
Adobe PDF
Checksum (MD5)
7a28bd0e256cec69f47bc8a86aefdacd
Author(s)
Lopez, Brett T.
Slotine, Jean-Jacques
Date Issued
2024
Journal
IEEE Control Systems Letters
Publisher
Institute of Electrical and Electronics Engineers
Citation
B. T. Lopez and J. -J. Slotine, "Dynamic Adaptation Gains for Nonlinear Systems With Unmatched Uncertainties," in IEEE Control Systems Letters, vol. 8, pp. 31-36, 2024.
Version
Author's final manuscript
Abstract
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would otherwise destabilize the closed-loop system. The approach also guarantees the restoration of the adaptation gains to their nominal values and can readily incorporate direct adaptation laws for matched uncertainties. The proposed framework is general as it only requires stabilizability for all possible models.
MIT Department
Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/lcsys.2023.3340139
