Iterative designs of adaptive controllers for systems with nonlinear integrators

Z. P. Jiang, L. Praly

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The authors extend the idea of iterative design of an adaptive controller introduced by T. Kanellakopoulos et al. (1990). By giving an interpretation of the scheme of Kenellakopoulos et al. in terms of the control Lyapunov function technique, the authors show that it can be applied to a slightly broader family of systems than the strict feedback systems. By noticing that this design involves implicitly at each step a matching condition which is known to hold not only for one integrator but also for two integrators, they propose a new adaptive controller with, in general, half as many parameters to update. A significant aspect of these designs is that, together with an adaptive controller, they result in a corresponding control Lyapunov function.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2482-2487
Number of pages6
ISBN (Print)0780304500
StatePublished - 1991
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: Dec 11 1991Dec 13 1991

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume3
ISSN (Print)0191-2216

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period12/11/9112/13/91

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Jiang, Z. P., & Praly, L. (1991). Iterative designs of adaptive controllers for systems with nonlinear integrators. In Proceedings of the IEEE Conference on Decision and Control (pp. 2482-2487). (Proceedings of the IEEE Conference on Decision and Control; Vol. 3). Publ by IEEE.