Analytical details are developed for a robust adaptive control strategy that combines switching control and on-line adaptive learning, for a class of nonlinear systems. The condition for stable learning is derived, guidelines for design parameter selection are provided, and the tradeoff between performance and chattering control effort is examined. The results of the study are summarized in the form of a constructive procedure for controller design for the class of systems.
Switching Control With Learning for a Class of Systems
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division July 6, 2001; final revision, February 18, 2003. Associate Editor: P. Voulgaris.
Zhang, X., and Nair, S. S. (September 18, 2003). "Switching Control With Learning for a Class of Systems ." ASME. J. Dyn. Sys., Meas., Control. September 2003; 125(3): 448–450. https://doi.org/10.1115/1.1589031
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