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A smooth switching adaptive controller for linearizable systems with improved transient performance
Author(s) -
Tze Huang Jeng,
Ming Chen Yen
Publication year - 2006
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.909
Subject(s) - control theory (sociology) , transient (computer programming) , exponential stability , parametric statistics , controller (irrigation) , singularity , stability (learning theory) , certainty , adaptive control , computer science , mathematics , control (management) , mathematical optimization , nonlinear system , artificial intelligence , mathematical analysis , statistics , physics , geometry , quantum mechanics , machine learning , agronomy , biology , operating system
The certainty equivalent control has achieved asymptotic tracking stability of linearizable systems in the presence of parametric uncertainty. However, two major drawbacks remain to be tackled, namely, the risk of running into singularity for the calculated control input and the poor transient behaviour arising frequently in a general adaptive system. For the first problem, a high gain control is activated in place of the certainty equivalent control until the risk is bypassed. Among others, it requires less control effort by taking advantages of the bounds for the input vector field. Moreover, the switching mechanism is smooth and hence avoids possible chattering behaviour. Next, to solve the second problem, a new type of update algorithm guaranteeing the exponential stability of the overall closed‐loop system, on a weaker persistent excitation (PE) condition, is proposed. In particular, it requires no filtering of the regressor and hence is easier to implement. Simulation results demonstrating the validity of the proposed design are given in the final. Copyright © 2006 John Wiley & Sons, Ltd.