NDLI: Stable Certainty Equivalence Adaptive Control using normalized parameter adjustment laws

Content Provider	IEEE Xplore Digital Library
Author	Boskovic, J.D.
Copyright Year	2009
Description	Author affiliation: Scientific Systems Company, Inc. 500, West Cummings Park, Suite 3000, Woburn, MA 01801, USA (Boskovic, J.D.)
Abstract	Parameter estimation problem in dynamical systems can be addressed using the static adaptive observers to generate parameter estimates on line. However, if such estimates are used in a Certainty Equivalence Adaptive Control (CEAC) law, the stability problem arises. In this paper it is shown that the CEAC law, in which parameter estimates are generated using static observers and several adaptive laws with normalization, results in a stable system in which the tracking control objective is achieved. The adaptive laws include gradient algorithms with normalization and projection, and least squares with covariance resetting and exponential forgetting. This is followed by an analysis of the case when dynamic observers and adaptive laws with normalization are used to generate parameter estimates. It is shown that with such adaptive laws overall system stability can be guaranteed provided that the observer is sufficiently fast and that its gain is chosen to be larger than a calculable worst-case bound.
Starting Page	1256
Ending Page	1261
File Size	429722
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160484
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Adaptive control Parameter estimation Stability Observers Adaptive algorithm Control systems Programmable control State estimation Equations Least squares methods
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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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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