DocumentCode
2174286
Title
Adaptive state feedback design via immersion and invariance
Author
Karagiannis, Dimitrios ; Astolfi, Alessandro
Author_Institution
Dept. of Electr. & Electron. Eng., Imperial Coll. London, London, UK
fYear
2007
fDate
2-5 July 2007
Firstpage
553
Lastpage
558
Abstract
In this paper, the ideas of the immersion and invariance (I&I) methodology are exploited to develop constructive adaptive control algorithms for specific classes of nonlinear systems with parametric uncertainties. The proposed approach is applied to the class of systems in so-called parametric feedback form, yielding new adaptive control laws with interesting properties. These are compared with the classical adaptive (feedback linearising) controllers by means of a practical example.
Keywords
adaptive control; control system synthesis; feedback; invariance; nonlinear control systems; state feedback; uncertain systems; I-and-I methodology; adaptive control laws; adaptive state feedback design; constructive adaptive control algorithm development; immersion-and-invariance methodology; nonlinear systems; parametric feedback form; parametric uncertainties; Adaptive control; Closed loop systems; Estimation error; State feedback; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2007 European
Conference_Location
Kos
Print_ISBN
978-3-9524173-8-6
Type
conf
Filename
7069045
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