Adaptive control design for nonlinear systems via successive approximations
Date
2017
Advisor
Instructor
Source Title
Proceedings of the ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
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Electronic ISSN
Publisher
ASME
Volume
Issue
Pages
1 - 8
Language
English
Type
Conference Paper
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Volume Title
Abstract
The paper presents an approach to the Model Reference Adaptive Control (MRAC) design for nonlinear dynamical systems. A nonlinear reference system is considered such that its response is designed to be stable via Successive Approximation Approach (SAA). Having designed the stable reference model through the SAA, MRAC is then formulated for nonlinear plant dynamics with a new adaptation rule to guarantee the convergence of the nonlinear plant response to that of the response of the nonlinear reference model. The proposed design methodology is illustrated with examples for different case studies.
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Keywords
Adaptive control systems, Advanced driver assistance systems, Advanced vehicle control systems, Aerospace applications, Approximation theory, Automobile drivers, Design, Dynamical systems, Intelligent robots, Intelligent systems, Linear control systems, Machine design, Nonlinear dynamical systems, Robotics, Wind power, Adaptation rules, Adaptive control designs, Design Methodology, Nonlinear plant, Reference modeling, Reference systems, Successive approximations, Model reference adaptive control