Stable auto-tuning of the adaptation gain for continuous-time nonlinear systems

Hazem N. Nounou, Kevin M. Passino*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)

Abstract

In direct adaptive control, the adaptation mechanism attempts to adjust a parameterized nonlinear controller to approximate an ideal controller. In the indirect case, however, we approximate parts of the plant dynamics that are used by a feedback controller to cancel the system nonlinearities. In both cases, "approximators" such as linear mappings, polynomials, fuzzy systems, or neural networks can be used as either the parameterized nonlinear controller or identifier model. In this paper, we present an algorithm to tune the adaptation gain for a gradient-based hybrid update law used for a class of nonlinear continuous-time systems in both direct and indirect cases. In our proposed algorithm, the adaptation gain is obtained by minimizing the instantaneous control energy.

Original languageEnglish
Pages (from-to)2037-2042
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
Publication statusPublished - 2001
Externally publishedYes
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: 4 Dec 20017 Dec 2001

Fingerprint

Dive into the research topics of 'Stable auto-tuning of the adaptation gain for continuous-time nonlinear systems'. Together they form a unique fingerprint.

Cite this