Title :
An indirect adaptive control algorithm for systems with uncertain dynamics and disturbances
Author :
Yu, Wen-Shyong ; Kuo, Te-Son
Author_Institution :
Dept. of Electr. Eng., Tatung Inst. of Technol., Taipei, Taiwan
Abstract :
A method is presented for continuous-time indirect adaptive control systems with uncertain dynamics and bounded disturbances. Two separate gradient least squares identifiers are used to estimate the plant and the controller parameters, respectively, whereas an additional feedback signal is created to control the persistence of excitation. It is shown that global stability and system identifiability are retained, and tracking errors will converge to a residual set whose set can be directly related to the size of perturbation explicitly
Keywords :
adaptive control; continuous time systems; feedback; least squares approximations; parameter estimation; stability; uncertain systems; bounded disturbances; continuous-time indirect adaptive control systems; feedback signal; global stability; gradient least squares identifiers; persistence of excitation; system identifiability; tracking errors; uncertain dynamics; Adaptive control; Control systems; Error correction; Feedback; Least squares approximation; Least squares methods; Programmable control; Robust stability; Robustness; Signal processing;
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.1994.411493
