Stable auto-tuning of the adaptation gain for continuous-time nonlinear systems Conference Paper

abstract

• In direct adaptive control, the adaptation mechanism attempts to adjust a parameterized nonlinear controller to approximate an ideal controller. In the indirect case, however, we approximate parts of the plant dynamics that are used by a feedback controller to cancel the system nonlinearities. In both cases, "approximators" such as linear mappings, polynomials, fuzzy systems, or neural networks can be used as either the parameterized nonlinear controller or identifier model. In this paper, we present an algorithm to tune the adaptation gain for a gradient-based hybrid update law used for a class of nonlinear continuous-time systems in both direct and indirect cases. In our proposed algorithm, the adaptation gain is obtained by minimizing the instantaneous control energy.

name of conference

• Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

authors

• Nounou, Hazem

published proceedings

• PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5

author list (cited authors)

• Nounou, H. N., & Passino, K. M.

citation count

• 4

complete list of authors

• Nounou, HN||Passino, KM

publication date

• January 2001

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Conference on Decision and Control  Journal

keywords

• 7 Affordable And Clean Energy

Digital Object Identifier (DOI)

• 10.1109/cdc.2001.980551

International Standard Book Number (ISBN) 10

• 0-7803-7061-9

start page

• 2037

end page

• 2042

volume

• 3

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Fcdc.2001.980551

user-defined tag

• 7 Affordable and Clean Energy