A design method of discrete-time adaptive control systems based on immersion and invariance

Yuta Katakura, Hiromitsu Ohmori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Adaptive control systems are designed to achieve desired control performance when plant parameters gains are unknown, or possibly slowly changing. Highly calculation technology is developed, more important discrete-time adaptive control structure is. Because the relative degree condition for strict positive realness (SPR) of the discrete-time error transfer function is different from the condition of the continuous time case, it is hard to prove the stability of the discretized continuous-time adaptive control systems. The main contribution of this paper is the extension of an Immersion and Invariance (I&I)-based adaptive control algorithm from continuous to discrete time. The theoretical stability of the proposed discrete time I&I-based adaptive control system is proved. In order to show the effectivaness of the proposed method, numerical simultions are shown.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages720-725
Number of pages6
DOIs
Publication statusPublished - 2008
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: 2008 Dec 92008 Dec 11

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period08/12/908/12/11

Fingerprint

Adaptive control systems
Adaptive Systems
Invariance
Immersion
Adaptive Control
Design Method
Discrete-time
Control System
Continuous Time
Transfer functions
Numerical methods
Degree Condition
Error function
Adaptive Algorithm
Transfer Function
Control Algorithm
Numerical Methods
Unknown

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Katakura, Y., & Ohmori, H. (2008). A design method of discrete-time adaptive control systems based on immersion and invariance. In Proceedings of the IEEE Conference on Decision and Control (pp. 720-725). [4738630] https://doi.org/10.1109/CDC.2008.4738630

A design method of discrete-time adaptive control systems based on immersion and invariance. / Katakura, Yuta; Ohmori, Hiromitsu.

Proceedings of the IEEE Conference on Decision and Control. 2008. p. 720-725 4738630.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Katakura, Y & Ohmori, H 2008, A design method of discrete-time adaptive control systems based on immersion and invariance. in Proceedings of the IEEE Conference on Decision and Control., 4738630, pp. 720-725, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 08/12/9. https://doi.org/10.1109/CDC.2008.4738630
Katakura Y, Ohmori H. A design method of discrete-time adaptive control systems based on immersion and invariance. In Proceedings of the IEEE Conference on Decision and Control. 2008. p. 720-725. 4738630 https://doi.org/10.1109/CDC.2008.4738630
Katakura, Yuta ; Ohmori, Hiromitsu. / A design method of discrete-time adaptive control systems based on immersion and invariance. Proceedings of the IEEE Conference on Decision and Control. 2008. pp. 720-725
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