Dynamic Adaptation Gains for Nonlinear Systems With Unmatched Uncertainties

We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting individual adaptation gains to cancel the effects of unmatched parameters whose transients could otherwise destabilize the closed-loop system. The method g...

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Bibliographic Details
Published in:IEEE control systems letters 2024-01, Vol.8, p.1-1
Main Authors: Lopez, Brett T., Slotine, Jean-Jacques
Format: Article
Language:English
Subjects:
Adaptation models
Adaptive control
Lyapunov methods
Stability criteria
Transient analysis
Uncertain systems
Uncertainty
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Summary:We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting individual adaptation gains to cancel the effects of unmatched parameters whose transients could otherwise destabilize the closed-loop system. The method guarantees the restoration of the adaptation gains to their nominal value and can readily incorporate direct adaptation laws for matched uncertainties. The proposed framework is general as it only requires stabilizability for all possible models.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2023.3340139