Adaptive Control of Time-Varying Parameter Systems With Asymptotic Tracking
- 23 March 2022
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 67 (9) , 4809-4815
Abstract
A continuous adaptive controller is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. Through a unique stability analysis strategy, a new adaptive feedforward term is developed along with specialized feedback terms, to yield an asymptotic tracking error convergence result by compensating for the time-varying nature of the uncertain parameters. A Lyapunov-based stability analysis is shown for Euler–Lagrange systems, which ensures asymptotic tracking error convergence and boundedness of the closed-loop signals. Additionally, the time-varying uncertain function approximation error is shown to converge to zero. A simulation example of a two-link manipulator is provided to demonstrate the asymptotic tracking result.Keywords
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Funding Information
- NSF (1762829)
- Office of Naval Research (N00014-13-1-0151)
- Air Force Office of Scientific Research (FA9550-18-1-0109, FA9550-19-1-0169)
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