Robust adaptive stabilization with multiple H uncertainty models and switching

Sundeep Rangan, Kameshwar Poolla

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

Abstract

In this paper, we consider a simple robust adaptive stabilization problem based on an H uncertainty model with a discrete unknown parameter. In the proposed problem formulation, the unknown plant is assumed to belong to one of N possible uncertainty models, where each model is described by a known, linear nominal plant with H bounds on the unmodeled dynamics. We show that if each of the models can be robustly stabilized with a linear time-invariant (LTI) controller, then there exists a single adaptive (possibly nonlinear and time-varying) controller that simultaneously robustly stabilizes all the N possible uncertainty models. The adaptive controller can provide the same level of stability robustness as the LTI controllers, and introduces, at most, a bounded transient in the output. Our approach is based on a simple switching algorithm and a novel application of H filtering methods.

Original languageEnglish (US)
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Pages3644-3648
Number of pages5
DOIs
StatePublished - 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: Jun 24 1998Jun 26 1998

Publication series

NameProceedings of the American Control Conference
Volume6
ISSN (Print)0743-1619

Other

Other1998 American Control Conference, ACC 1998
CountryUnited States
CityPhiladelphia, PA
Period6/24/986/26/98

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Robust adaptive stabilization with multiple H<sub>∞</sub> uncertainty models and switching'. Together they form a unique fingerprint.

  • Cite this

    Rangan, S., & Poolla, K. (1998). Robust adaptive stabilization with multiple H uncertainty models and switching. In Proceedings of the 1998 American Control Conference, ACC 1998 (pp. 3644-3648). [703293] (Proceedings of the American Control Conference; Vol. 6). https://doi.org/10.1109/ACC.1998.703293