A Projection Operator-Based Discrete-Time Adaptive Architecture for Control of Uncertain Dynamical Systems With Actuator Dynamics

Stability analyses of discrete-time adaptive control algorithms are generally predicated on quadratic Lyapunov-based frameworks that result in unavoidable complexity due to the resulting terms in the Lyapunov difference equations. This prevents generalizations of valuable continuous-time adaptive co...

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Bibliographic Details
Published in:IEEE control systems letters 2022, Vol.6, p.3343-3348
Main Authors: Dogan, K. Merve, Kurttisi, Atahan, Yucelen, Tansel, Koru, Ahmet T.
Format: Article
Language:English
Subjects:
actuator dynamics
Actuators
Adaptation models
Adaptive control
Aerodynamics
Asymptotic stability
Discrete-time
Dynamical systems
Uncertainty
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Summary:Stability analyses of discrete-time adaptive control algorithms are generally predicated on quadratic Lyapunov-based frameworks that result in unavoidable complexity due to the resulting terms in the Lyapunov difference equations. This prevents generalizations of valuable continuous-time adaptive control results to their discrete-time settings. To this end, one important generalization is the consideration of actuator dynamics, which is present in any uncertain dynamical system. To address this problem, we propose a novel discrete-time adaptive control architecture predicated on the hedging method and a new projection operator. A logarithmic Lyapunov function is used for proving the asymptotic stability of the error between uncertain dynamical system states and hedging-based reference model states. An illustrative numerical example is then presented to demonstrate the efficacy of the proposed architecture.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2022.3183670