Adaptive switching supervisory control of nonlinear systems with no prior knowledge of noise bounds |
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Authors: | David Angeli [Author Vitae] |
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Affiliation: | Dipartimento di Sistemi e Informatica, Università di Firenze, Via di S. Marta 3, Firenze 50139, Italy |
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Abstract: | The problem of controlling nonlinear noisy systems affected by parametric uncertainties is approached via the introduction of a supervisor which, whenever needed, switches on, in feedback to the plant, a controller selected from a finite set of predesigned controllers. A Lyapunov-based falsification criterion allows one to ensure robust stability in the presence of uncertain constant parameters and exogenous bounded disturbances. Simulations are discussed in order to illustrate the merits of the proposed algorithms. |
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Keywords: | Supervisory control Lyapunov methods Robust stability Adaptive control |
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