Tuning function design for nonlinear adaptive control systems with multiple unknown control directions. (March 2018)

• Record Type: Journal Article
• Authors: Huang, Chao; Yu, Changbin (Brad)
• Is Part Of: Automatica. Volume 89(2018)
• Page Start: 259
• Page End: 265
• Publication Date: 2018-03
• Subjects: Adaptive control -- Switching controllers -- Tracking; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2017.11.024
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: To overcome the drawback of overparametrization in existing nonlinear adaptive control design with multiple unknown control directions, we propose a new algorithm which combines nonlinear integrator backstepping, tuning function design and a logic-based switching mechanism that tunes the control directions online in a switching manner. Global asymptotic tracking control is achieved for parametric-strict-feedback systems without overparametrization. The logic-based switching criterion is based on monitoring incremental errors caused during two consecutive switching moments, and thus can identify the true control direction quickly.