A simultaneous adaptation law for a class of nonlinearly-parametrized switched systems

Roy, S.; Baldi, S.

doi:10.1109/LCSYS.2019.2904397

A simultaneous adaptation law for a class of nonlinearly-parametrized switched systems

Title

A simultaneous adaptation law for a class of nonlinearly-parametrized switched systems

Author

Roy, S. (TU Delft Ship Design, Production and Operations)
Baldi, S. (TU Delft Team Bart De Schutter)

Date

2019

Abstract

This letter proposes a new adaptive control method for a class of nonlinearly-parametrized switched systems that includes Monod kinetics and Euler-Lagrange systems with nonlinear in parameters form as special cases. As compared to the adaptive switched frameworks proposed in literature, the proposed adaptation framework has the distinguishing feature of updating the gains of the active and inactive subsystems simultaneously: by doing this it avoids high gains for the active subsystems or vanishing gains for the inactive ones. The design is studied analytically and its performance is validated in simulation with a robotic manipulator example.

Subject

Adaptive control
Kinetic theory
Switched systems
Switched systems.
Switches
System dynamics
Uncertainty
Upper bound

To reference this document use:

http://resolver.tudelft.nl/uuid:cc00db74-a907-441c-8263-f41ac2c058d0

DOI

https://doi.org/10.1109/LCSYS.2019.2904397

ISSN

2475-1456

Source

IEEE Control Systems Letters, 3 (3), 487-492

Bibliographical note

Accepted Author Manuscript