- 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
- Reviewed
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