Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective

Title: Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective
Creator: Wang, Lei; Kellett, Christopher M.
Relation: 58th IEEE Conference on Decision and Control (CDC 2019). Proceedings of the 58th IEEE Conference on Decision and Control (CDC 2019) (Nice, France 11-13 December, 2019) p. 7019-7024
Publisher Link: http://dx.doi.org/10.1109/CDC40024.2019.9029691
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2019
Description: This paper studies the immersion and invariance (I&I)-based adaptive tracking problem of nonlinear systems with linear and nonlinear parameterizations. For a linear parameterization of the unknown parameters, a new strict Lyapunov function construction method is first presented for II adaptive control systems using the notion of integral inputto-state stability (iISS). This then motivates us to develop a new adaptive II tracking control scheme for a class of nonlinearly parameterized systems. Under an ISS small-gain condition, a strict Lyapunov function can be explicitly constructed to show that both global asymptotic tracking and estimation can be achieved uniformly.
Subject: adaptive control; strict Lyapunov function; integral input-to-state stability; nonlinear parameterization; uniform asymptotic stability
Identifier: http://hdl.handle.net/1959.13/1447682
Identifier: uon:43213
Identifier: ISBN:9781728113982
Language: eng
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