Abstract
Although reference systems with linear dynamics are common in the adaptive control literature, they can lead to limitations on the achievable closed-loop dynamical system performance. This is due to the fact that linear reference systems can only approximate the desired closed-loop behavior of nonlinear dynamical systems in narrow regions of the state-space. In this paper, we study a new adaptive control architecture for uncertain dynamical systems based on a nonlinear reference system. It is shown that the system error between the uncertain dynamical system and the nonlinear reference system asymptotically vanishes in steady-state, and its performance is guaranteed during the transient-time. Two illustrative numerical examples are provided to demonstrate the efficacy of the proposed methodology.
Recommended Citation
T. Yucelen et al., "Adaptive Control with Nonlinear Reference Systems," Proceedings of the American Control Conference, pp. 3986 - 3991, article no. 7171952, Institute of Electrical and Electronics Engineers, Jul 2015.
The definitive version is available at https://doi.org/10.1109/ACC.2015.7171952
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-147998684-2
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
28 Jul 2015
