Robust direct adaptive controllers with a new normalization technique

Author

Feng, Gang ; Palaniswami, M.

Author_Institution

Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia

Volume

39

Issue

11

fYear

1994

fDate

11/1/1994 12:00:00 AM

Firstpage

2330

Lastpage

2334

Abstract

This note presents a robust direct adaptive control scheme with a new normalization technique and its stability analysis in the presence of unmodeled dynamics and/or bounded disturbances. Following input-output stability theory, L₂ and L_∞ stability of the system is studied using the sector stability and passivity theorems and conditions for global stability are derived. It is also shown that robustness of the adaptive control system can be improved when relative dead zone and the novel normalization technique are incorporated into the scheme

Keywords

adaptive control; control system analysis; stability criteria; I/O stability theory; L_∞ stability; L₂ stability; bounded disturbances; global stability conditions; input-output stability theory; normalization technique; passivity theorems; relative dead zone; robust direct adaptive control; robustness; sector stability theorems; stability analysis; unmodeled dynamics; Adaptive control; Control systems; Delay effects; Polynomials; Programmable control; Robust control; Robust stability; Robustness; Signal analysis; Stability analysis;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.333788

Filename

333788