NDLI: Adaptive Control Design Based on Adaptive Optimization Principles

Content Provider	IEEE Xplore Digital Library
Author	Kosmatopoulos, E.B.
Copyright Year	1963
Abstract	Recently, we introduced an adaptive control design for linearly parameterized multi-input nonlinear systems admitting a known control Lyapunov function (CLF) that depends on the unknown system parameters. The main advantage of that design is that it overcomes the problem where the estimation model becomes uncontrollable (at regions of the state space where the actual system is controllable). However, the resulted adaptive control design is quite complicated and, moreover, it exhibited poor transient behavior in various applications. In this technical note, we propose and analyze a new computationally efficient adaptive control design that overcomes the aforementioned shortcomings. The proposed design is based on an adaptive optimization algorithm introduced recently by the author, which makes sure that the parameters to be optimized (which correspond to the controller parameters in this technical note) are modified so as to both lead to a decrease of the function to be minimized and satisfy a persistence of excitation condition. The main advantage of the proposed adaptive control design is that it can produce arbitrarily good transient performance outside (a) the regions of the state space where the actual system becomes uncontrollable and (b) a region of the parameter estimates space which shrinks exponentially fast. It is also worth noting that the class of systems where the proposed algorithm is applicable is more general than that of our previous work; however, it has to be emphasized that, due to the fact that the proposed algorithm involves the use of random sequences, all the established stability and convergence results are guaranteed to hold with probability one.
Sponsorship	IEEE Control Systems Society
Starting Page	2680
Ending Page	2685
Page Count	6
File Size	565463
File Format	PDF
ISSN	00189286
Volume Number	53
Issue Number	11
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Programmable control Design optimization State estimation State-space methods Nonlinear systems Nonlinear control systems Control systems Lyapunov method Control system synthesis persistence of excitation Adaptive optimization control Lyapunov functions multi variable adaptive control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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