Title :
On-line approximation-based tracking of uncertain systems
Author :
Polycarpou, Marios M. ; Mears, Mark J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Cincinnati Univ., OH, USA
Abstract :
This paper considers the design and analysis of online approximation based controllers for a general class of uncertain nonlinear dynamical systems. An adaptive bounding design is used to show that the overall online approximation based control system guarantees semi-global uniform ultimate boundedness within a neighborhood of zero tracking error. The theoretical results are illustrated through a simulation example
Keywords :
adaptive control; approximation theory; control system analysis; control system synthesis; nonlinear control systems; nonlinear dynamical systems; tracking; uncertain systems; adaptive bounding design; guaranteed semi-global uniform ultimate boundedness; online approximation-based controllers; online approximation-based tracking; uncertain nonlinear dynamical systems; zero tracking error neighbourhood; Adaptive control; Adaptive systems; Algorithm design and analysis; Control systems; Error correction; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Uncertain systems; Uncertainty;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610895
