On robustness of Lyapunov-based nonlinear adaptive controllers

被引：1

作者：

Satoh, Yasuyuki ^{[1
]}

Nakamura, Hisakazu ^{[2
]}

Ohtsuka, Toshiyuki ^{[1
]}

机构：

[1] Kyoto Univ, Sakyo Ku, Yoshida Honmachi, Kyoto 6068531, Japan

[2] Tokyo Univ Sci, Noda, Chiba 2788510, Japan

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 18期

关键词：

nonlinear control; adaptive control; sector nonlinearity; monotone nonlinearity;

D O I：

10.1016/j.ifacol.2016.10.168

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we discuss robustness of a class of control Lyapunov function (CLF)-based nonlinear adaptive controllers with respect to input uncertainties. We prove that the adaptive controllers are robust with respect to monotone input nonlinearities. Moreover, we extend this result to the robust set-point regulation problem of nonlinear systems. The robustness of the controllers also confirmed by computer simulations. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：229 / 234

页数：6

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