Adaptive control of discrete time nonlinear systems using dynamic structure approximators

Gazi V., Passino K., Farrell J.

American Control Conference (ACC), Darlington, Birleşik Krallık, 25 - 27 Haziran 2001, ss.3091-3096 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Darlington
  • Basıldığı Ülke: Birleşik Krallık
  • Sayfa Sayıları: ss.3091-3096
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

This article presents a direct adaptive control scheme for adaptive tracking of a class of discrete time nonlinear systems. We use structurally dynamic on-line function approximators and a gradient method with deadzone for adaptation. It is shown that all the signals in the system will be bounded and the tracking error will converge to a neighborhood of the origin whose size depends on the bounds on the disturbances in the system and the "ideal" approximation error. Moreover, it is shown that certain approximators that have a localization property are more suitable for the presented control scheme. Then we extend the algorithm such that the size of the deadzone is also adapted on-line while preserving the properties of the algorithm. The applicability of the theory is demonstrated with a simulation example.