Nonlinear adaptive control by switching linear controllers
- 作者：Ye Xudong eexdye@zju.edu.cn
- 关键词：Adaptive control ; Linear control ; Logic-based switching ; Nonlinear systems
- 刊名：Systems and Control Letters
- 出版年：2012
- 期刊代码：171_01676911
- 类别：et
- 出版时间：April, 2012
- 卷：61
- 期：4
- 页码：617-621
- 文件大小：432 K
摘要
We consider a global adaptive stabilization problem for feedback nonlinear systems with nonlinear parametrization. In our previous work聽, we showed that for such systems global adaptive stabilization can be achieved by switching nonlinear controllers. In this paper, we further show that global adaptive stabilization can still be achieved by switching linear controllers. From the consideration of implementation, the linear controller has obvious advantages. The design of our adaptive stabilizer takes a two-step procedure. We first design a linear stabilizer with 鈥渦ndetermined鈥?gains and then design a set of switching logics to tune online the gains in a switching manner. It is shown that under our proposed control, for any initial conditions, all closed-loop states are bounded and asymptotic regulation is achieved.