TY - GEN
T1 - Iterative designs of adaptive controllers for systems with nonlinear integrators
AU - Jiang, Z. P.
AU - Praly, L.
PY - 1991
Y1 - 1991
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0026379158
SN - 0780304500
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2482
EP - 2487
BT - Proceedings of the IEEE Conference on Decision and Control
PB - Publ by IEEE
T2 - Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
Y2 - 11 December 1991 through 13 December 1991
ER -