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Robust adaptive tracking control of uncertain discrete time systems
Author(s) -
Li Shengping
Publication year - 2005
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.880
Subject(s) - control theory (sociology) , tracking (education) , adaptive control , computer science , control (management) , discrete time and continuous time , robust control , control engineering , control system , artificial intelligence , engineering , mathematics , psychology , statistics , pedagogy , electrical engineering
In this paper, the problem of robust adaptive tracking for uncertain discrete‐time systems is considered from the slowly varying systems point of view. The class of uncertain discrete‐time systems considered is subjected to both ∞ to ∞ bounded unstructured uncertainty and external additive bounded disturbances. A priori knowledge of the dynamic model of the reference signal to be tracked is not completely known. For such problem, an indirect adaptive tracking controller is obtained by frozen‐time controllers that at each time optimally robustly stabilize the estimated models of the plant and minimize the worst‐case steady‐state absolute value of the tracking error of the estimated model over the model uncertainty. Based on ∞ to ∞ stability and performance of slowly varying system found in the literature, the proposed adaptive tracking scheme is shown to have good robust stability. Moreover, a computable upper bound on the size of the unstructured uncertainty permitted by the adaptive system and a computable tight upper bound on asymptotic robust steady‐state tracking performance are provided. Copyright © 2005 John Wiley & Sons, Ltd.