NDLI: High-Gain Adaptive Control: A Derivative-Based Approach

Content Provider	IEEE Xplore Digital Library
Author	Blanchini, F. Parisini, T. Pellegrino, F.A. Pin, G.
Copyright Year	1963
Abstract	In this work, we propose an adaptive scheme which is a counterpart of existing high gain control techniques based on control Lyapunov functions. Given a control Lyapunov function, the main idea is that of tuning the feedback gain according to a suitably-chosen Lyapunov time-derivative. The control gain is not monotonically non-decreasing as in existing techniques, but it is increased or decreased depending on the imposed derivative, thus avoiding the well-known issue of actuator over-exploitation. We are able to show robust convergence of the proposed adaptive control scheme as well as other interesting properties. For instance, it is possible to guarantee an a-priori given upper bound for the transient mode of behavior during adaptation. Furthermore, if the control Lyapunov function is designed based on an optimal control problem, then the control action is nominally optimal, precisely it yields the optimal trajectory for any initial condition, if the actual plant matches the nominal system.
Sponsorship	IEEE Control Systems Society
Starting Page	2164
Ending Page	2169
Page Count	6
File Size	313079
File Format	PDF
ISSN	00189286
Volume Number	54
Issue Number	9
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-01
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 Lyapunov method Optimal control Control systems Programmable control Gain control Feedback Actuators Robust control Convergence Lyapunov functions high gain control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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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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