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

Yuta Katakura, Hiromitsu Ohmori

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
ページ720-725
ページ数6
DOI
出版ステータスPublished - 2008 12 1
イベント47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
継続期間: 2008 12 92008 12 11

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
ISSN(印刷版)0191-2216

Other

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

ASJC Scopus subject areas

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

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