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
Volume6
DOIs
StatePublished - 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: Jun 24 1998Jun 26 1998

Other

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

Fingerprint

Stabilization
Controllers
Robustness (control systems)
Uncertainty

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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 (Vol. 6, pp. 3644-3648). [703293] https://doi.org/10.1109/ACC.1998.703293

Robust adaptive stabilization with multiple H∞ uncertainty models and switching. / Rangan, Sundeep; Poolla, Kameshwar.

Proceedings of the 1998 American Control Conference, ACC 1998. Vol. 6 1998. p. 3644-3648 703293.

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

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. vol. 6, 703293, pp. 3644-3648, 1998 American Control Conference, ACC 1998, Philadelphia, PA, United States, 6/24/98. https://doi.org/10.1109/ACC.1998.703293
Rangan S, Poolla K. Robust adaptive stabilization with multiple H∞ uncertainty models and switching. In Proceedings of the 1998 American Control Conference, ACC 1998. Vol. 6. 1998. p. 3644-3648. 703293 https://doi.org/10.1109/ACC.1998.703293
Rangan, Sundeep ; Poolla, Kameshwar. / Robust adaptive stabilization with multiple H∞ uncertainty models and switching. Proceedings of the 1998 American Control Conference, ACC 1998. Vol. 6 1998. pp. 3644-3648
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