Adaptation with disturbance attenuation in nonlinear control systems
- Univ. of Illinois, Urbana, IL (United States)
We present an optimization-based adaptive controller design for nonlinear systems exhibiting parametric as well as functional uncertainty. The approach involves the formulation of an appropriate cost functional that places positive weight on deviations from the achievement of desired objectives (such as tracking of a reference trajectory while the system exhibits good transient performance) and negative weight on the energy of the uncertainty. This cost functional also translates into a disturbance attenuation inequality which quantifies the effect of the presence of uncertainty on the desired objective, which in turn yields an interpretation for the optimizing control as one that optimally attenuates the disturbance, viewed as the collection of unknown parameters and unknown signals entering the system dynamics. In addition to this disturbance attenuation property, the controllers obtained also feature adaptation in the sense that they help with identification of the unknown parameters, even though this has not been set as the primary goal of the design. In spite of this adaptation/identification role, the controllers obtained are not of certainty-equivalent type, which means that the identification and the control phases of the design are not decoupled.
- Research Organization:
- Argonne National Lab., IL (United States)
- OSTI ID:
- 569675
- Report Number(s):
- CONF-9705121--; ON: DE98000902
- Country of Publication:
- United States
- Language:
- English
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