Title :
Exponential stability of a simplified adaptive control scheme in presence of bounded disturbances
Author :
Bartolini, Giorgio ; Ferrara, Antonella ; Stotsky, Alexander A.
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
Abstract :
The applicability of an adaptive control scheme previously proposed by the authors is extended to the case of unknown bounded disturbances acting on the closed-loop plant. In particular, the constant disturbance case is dealt with in detail, coming up with a suitable estimator of the disturbances, as well as with an auxiliary control action capable of compensating them
Keywords :
adaptive control; compensation; stability; auxiliary control action; closed-loop plant; exponential stability; simplified adaptive control scheme; unknown bounded disturbances; Adaptive control; Algorithm design and analysis; Convergence; Error correction; Filters; Manipulators; Mechanical engineering; Polynomials; Robots; Stability;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411022
