Adaptive control systems with unstructured uncertainty and unmodelled dynamics: a relaxed stability condition. Issue 8 (3rd August 2022)

• Record Type: Journal Article
• Authors: Dogan, K. Merve; Yucelen, Tansel; Muse, Jonathan A.
• Is Part Of: International journal of control. Volume 95:Issue 8(2022)
• Page Start: 2211
• Page End: 2224
• Publication Date: 2022-08-03
• Subjects: Adaptive control -- uncertain dynamical systems -- unstructured uncertainty -- unmodelled dynamics -- stability analysis -- experiments; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2021.1902568
• Languages: English
• ISSNs: 0020-7179

Abstract

Abstract : As it is well-known, system uncertainties and unmodeled dynamics can deteriorate stability properties of model reference adaptive control systems. Motivated by this standpoint, we first analyse stability conditions of model reference adaptive control architectures in the presence of unstructured system uncertainties and unmodeled dynamics. We then synthesise adaptive robustifying terms to relax the aforementioned stability condition, which presents our main contribution. Specifically, these terms in the feedback loop guarantee overall system stability even in the presence of significant system uncertainties when unmodeled dynamics satisfy a condition. We further demonstrate our theoretical findings in an experiment involving an inverted pendulum on a cart (modeled dynamics) coupled with another cart through a spring (unmodeled dynamics).