Unfalsified Adaptive Control for Nonlinear Time-Varying Plants

• 成果类型: Article
• 署名作者: Patil, Sagar V.; Sung, Yu-Chen; Safonov, Michael G.
• 署名单位: University of Southern California
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3110434
• 发表日期: 2022
• 页码: 3892-3904
• 关键词: Bumpless transfer; exponential stability; reset; unfalsified control

摘要

The Battistelli-Hespanha-Mosca-Tesi (BHMT) adaptive reset switching algorithm is enhanced to admit bumpless transfer and to control a nonlinear time-varying plant using the broad class of two-degree-of-freedom nonlinear time-varying controllers. Performance, including stability and exponential stability, is proved given only that the adaptive stabilization problem is lambda-feasible, which means at every time, there exists at least one exponentially stabilizing controller. We relax two restrictive BHMT assumptions: i) the plant is linear time-invariant (LTI) over most intervals and has finite order and ii) each controller is LTI. And, we expand the scope to include a broad class of bumpless switching algorithms. An example is provided to support the improved results.