Stability overlay for adaptive control laws |
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Authors: | Paulo Rosa Jeff S Shamma Carlos Silvestre Michael Athans[Author vitae] |
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Affiliation: | aInstitute for Systems and Robotics - Instituto Superior Tecnico, Av. Rovisco Pais, 1, 1049-001 Lisboa, Portugal;bGeorgia Institute of Technology, School of Electrical and Computer Engineering, Atlanta, GA, United States;cEECS (emeritus), M.I.T., United States |
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Abstract: | This paper proposes an architecture referred to as Stability Overlay (SO) for adaptive control of a class of nonlinear time-varying plants. The SO can be implemented in parallel with a wide range of “performance-based” adaptive control laws, i.e., adaptive control laws that seek to improve closed-loop performance, but may be susceptible to instability in the presence of unaccounted model uncertainty. In this architecture, the performance-based adaptive control law designates candidate controllers based on performance considerations, while the SO supervises this selection based upon online robust stability considerations. A particular selection of a performance-based adaptive control law is not specified. Rather, this selection can be from a wide range of adaptive control schemes. This paper provides stability proofs for the SO architecture and presents a simulation that illustrates the applicability of the proposed method. |
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Keywords: | Robust adaptive control Time-varying systems Robust stability |
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