Universal Adaptive Control of Nonlinear Systems
This letter develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the effects of parameter estimation transients on stability....
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| 其他作者: | |
| 格式: | 文件 |
| 语言: | English |
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Institute of Electrical and Electronics Engineers
2024
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| 在线阅读: | https://hdl.handle.net/1721.1/154993 |
| _version_ | 1826204551498170368 |
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| author | Lopez, Brett T. Slotine, Jean-Jacques E. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Lopez, Brett T. Slotine, Jean-Jacques E. |
| author_sort | Lopez, Brett T. |
| collection | MIT |
| description | This letter develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the effects of parameter estimation transients on stability. The method can be immediately combined with a previously designed or learned feedback policy if a corresponding model-parameterized Lyapunov function or contraction metric is known. Simulation results of various nonlinear systems with unmatched uncertainties illustrate the approach. |
| first_indexed | 2024-09-23T12:57:16Z |
| format | Article |
| id | mit-1721.1/154993 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2025-02-19T04:21:49Z |
| publishDate | 2024 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/1549932025-01-04T05:00:06Z Universal Adaptive Control of Nonlinear Systems Lopez, Brett T. Slotine, Jean-Jacques E. Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Nonlinear Systems Laboratory This letter develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the effects of parameter estimation transients on stability. The method can be immediately combined with a previously designed or learned feedback policy if a corresponding model-parameterized Lyapunov function or contraction metric is known. Simulation results of various nonlinear systems with unmatched uncertainties illustrate the approach. 2024-05-17T16:02:53Z 2024-05-17T16:02:53Z 2022 2024-05-17T15:44:44Z Article http://purl.org/eprint/type/JournalArticle 2475-1456 https://hdl.handle.net/1721.1/154993 B. T. Lopez and J. -J. E. Slotine, "Universal Adaptive Control of Nonlinear Systems," in IEEE Control Systems Letters, vol. 6, pp. 1826-1830, 2022. en 10.1109/lcsys.2021.3133359 IEEE Control Systems Letters Creative Commons Attribution-Noncommercial-ShareAlike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers arxiv |
| spellingShingle | Lopez, Brett T. Slotine, Jean-Jacques E. Universal Adaptive Control of Nonlinear Systems |
| title | Universal Adaptive Control of Nonlinear Systems |
| title_full | Universal Adaptive Control of Nonlinear Systems |
| title_fullStr | Universal Adaptive Control of Nonlinear Systems |
| title_full_unstemmed | Universal Adaptive Control of Nonlinear Systems |
| title_short | Universal Adaptive Control of Nonlinear Systems |
| title_sort | universal adaptive control of nonlinear systems |
| url | https://hdl.handle.net/1721.1/154993 |
| work_keys_str_mv | AT lopezbrettt universaladaptivecontrolofnonlinearsystems AT slotinejeanjacquese universaladaptivecontrolofnonlinearsystems |