A design scheme of variable structure adaptive control for uncertain dynamic systems

doi:10.1016/0005-1098(95)00192-1

Automatica

Volume 32, Issue 4, April 1996, Pages 561-567

https://doi.org/10.1016/0005-1098(95)00192-1 Get rights and content

Abstract

A design scheme of variable structure adaptive control for linear time-invariant system with uncertain dynamics is proposed. Both additive and multiplicative unmodeled dynamics are taken into consideration. The transfer function of the modeled part of the plant may have unstable zeros and unstable poles. A sign-following system and logic switchings are introduced into the control system. The global stability of the overall system is proved. Simulation results show the effectiveness of the proposed method.

References (35)

L.C. Fu
A new robust MRAC using variable structure design for relative degree two plants
Automatica
(1992)
P.A. Ioannou et al.
Instability analysis and improvement of robustness of adaptive control
Automatica
(1984)
P.A. Kokotovic et al.
On a stability criterion for continuous slow adaptation
Syst. Control Lett.
(1985)
R.L. Kosut et al.
An input-output view of robustness in adaptive control
Automatica
(1984)
R. Ortega et al.
Direct adaptive tuning or robust controllers with guaranteed stability properties
Syst. Control Lett.
(1987)
C. Samson
Stability analysis of adaptively controlled system subject to bounded disturbances
Automatica
(1983)
B.D.O. Anderson et al.
Z.J. Chen et al.
Robustness of model reference adaptive control systems with unmodeled dynamics
Int. J. Control
(1984)
B. Egardt
Stability analysis of adaptive control system with disturbances
C.B. Feng
Input-output property analysis of composite dynamic systems and its application

C.B. Feng et al.

Design scheme for robust adaptive control systems

Control Theory Applic.

(1986)

L.C. Fu

A new approach to robust model reference adaptive control for a class of plants

Int. J. Control

(1991)

L. Hsu et al.

Variable structure model reference adaptive control using only input and output measurements

Int. J. Control

(1989)

P.A. Ioannou

Robust adaptive controller with zero residual tracking errors

IEEE Trans. Autom. Control

(1986)

P.A. Ioannou et al.

A robust direct adaptive controller

IEEE Trans. Autom. Control

(1986)

P.A. Ioannou et al.

G. Kreisselmeier et al.

Robust model reference adaptive control

IEEE Trans. Autom. Control

(1986)

Cited by (17)

Safety-guaranteed adaptive neural motion control for a hovercraft with multiple constraints
2021, Ocean Engineering
This paper develops a safety-guaranteed adaptive neural motion controller for an underactuated hovercraft in the presence of multiple constraints and model uncertainties. First, a surge controller is designed based on a new improved integral barrier Lyapunov function (iBLF) to guarantee that the surge speed is above the resistance hump speed to achieve better course stability. Second, the constraint on the drift angle is transformed into one on the sway speed, and then the virtual sway controller is designed to constrain the sway speed for the purpose of confining the drift angle. Third, a time-varying iBLF is constructed to constrain the yaw angular velocity to inside of safety boundary relating to the surge speed to ensure a safe turning motion at high speed. Neural networks (NNs) are incorporated into each controller to handle the model uncertainties. It is proved that all the tracking errors are ultimately uniformly bounded. Finally, the results from numerous simulations demonstrate the effectiveness of the proposed control approaches.
Optimal model reference adaptive controllers for systems with input nonlinearity
2002, IFAC Proceedings Volumes (IFAC-PapersOnline)
Based on the Lyapunov stability theorem, an optimal model reference adaptive control (OMRAC) scheme designed for a class of multi-input (MI) systems with input non-linearity for solving robust tracking problems is presented in this paper. The proposed control scheme contains an optimal controller designed for nominal systems, and an adaptive mechanism used to automatically adapt the unknown upper bound of perturbation. The asymptotical stability of tracking error is guaranteed for the controlled system. A numerical example is given for demonstrating the feasibility of the proposed control scheme.
Intelligent Control, Filtering and Model Reduction Analysis for Fuzzy-Model-Based Systems
2022, Studies in Systems, Decision and Control
Design of an adaptive fuzzy sliding mode control for uncertain discrete-time nonlinear systems based on noisy measurements
2016, International Journal of Systems Science
Adaptive fuzzy sliding mode control for uncertain multi-input multi-output discrete-time systems using a set of noisy measurements
2015, International Journal of Systems Science
Robust adaptive controller design for a class of nonlinear systems with unknown high frequency gains
2006, Journal of Zhejiang University: Science

View all citing articles on Scopus

^☆: This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor I. M. Y. Mareels under the direction of Editor C. C. Hang.

View full text

Brief paperA design scheme of variable structure adaptive control for uncertain dynamic systems☆

Abstract

Automatica

Automatica

Syst. Control Lett.

Automatica

Syst. Control Lett.

Automatica

Robustness of model reference adaptive control systems with unmodeled dynamics

Int. J. Control

Stability analysis of adaptive control system with disturbances

Input-output property analysis of composite dynamic systems and its application

Design scheme for robust adaptive control systems

Control Theory Applic.

A new approach to robust model reference adaptive control for a class of plants

Int. J. Control

Variable structure model reference adaptive control using only input and output measurements

Int. J. Control

Robust adaptive controller with zero residual tracking errors

IEEE Trans. Autom. Control

A robust direct adaptive controller

IEEE Trans. Autom. Control

Robust model reference adaptive control

IEEE Trans. Autom. Control

Brief paper
A design scheme of variable structure adaptive control for uncertain dynamic systems☆