Global adaptive control of feedforward systems using dynamic high gain scaling

P. Krishnamurthy, Farshad Khorrami

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

Abstract

In this paper, we propose an adaptive control design technique for feedforward systems based on our recent results on dynamic high-gain scaling techniques for controller design for strict-feedback-type systems. Both the state-feedback and the output-feedback cases are considered. The system is allowed to contain uncertain functions of all the states even in the output-feedback case. Unknown parameters are allowed in the bounds assumed on the uncertain functions appearing in the dynamics. The designed controllers have a very simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer in the output-feedback case is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in the states and the parameter estimation errors (and the observer errors in the case of output-feedback). The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller design provides strong robustness properties both with respect to uncertain parameters in the system model and additive disturbances. This robustness is the key to the output-feedback controller design.

Original languageEnglish (US)
Title of host publicationProceedings of the 2004 American Control Conference (AAC)
Pages4354-4359
Number of pages6
Volume5
DOIs
StatePublished - 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004

Other

OtherProceedings of the 2004 American Control Conference (AAC)
CountryUnited States
CityBoston, MA
Period6/30/047/2/04

Fingerprint

Dynamical systems
Feedback
Controllers
Robustness (control systems)
Lyapunov functions
State feedback
Parameter estimation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2004). Global adaptive control of feedforward systems using dynamic high gain scaling. In Proceedings of the 2004 American Control Conference (AAC) (Vol. 5, pp. 4354-4359) https://doi.org/10.1109/ACC.2004.182634

Global adaptive control of feedforward systems using dynamic high gain scaling. / Krishnamurthy, P.; Khorrami, Farshad.

Proceedings of the 2004 American Control Conference (AAC). Vol. 5 2004. p. 4354-4359.

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

Krishnamurthy, P & Khorrami, F 2004, Global adaptive control of feedforward systems using dynamic high gain scaling. in Proceedings of the 2004 American Control Conference (AAC). vol. 5, pp. 4354-4359, Proceedings of the 2004 American Control Conference (AAC), Boston, MA, United States, 6/30/04. https://doi.org/10.1109/ACC.2004.182634
Krishnamurthy P, Khorrami F. Global adaptive control of feedforward systems using dynamic high gain scaling. In Proceedings of the 2004 American Control Conference (AAC). Vol. 5. 2004. p. 4354-4359 https://doi.org/10.1109/ACC.2004.182634
Krishnamurthy, P. ; Khorrami, Farshad. / Global adaptive control of feedforward systems using dynamic high gain scaling. Proceedings of the 2004 American Control Conference (AAC). Vol. 5 2004. pp. 4354-4359
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