Nonlinear adaptive control using multiple identification models

A multiple model adaptive controller is proposed for nonlinear systems in parametric-strict-feedback form. By running in parallel multiple identification models and designing a suitable switching scheme, some models close to the real plant can be selected quickly, so that transient performance can be improved significantly. Global asymptotic stability of the closed-loop switching system is proved. A simulation example is given to demonstrate the effectiveness of the proposed multiple model adaptive controller.

[1]  Iven M. Y. Mareels,et al.  Adaptive systems - an introduction , 1996, Systems and control.

[2]  Edward J. Davison,et al.  Pseudo-decentralized switching control , 2003, Autom..

[3]  K. Narendra,et al.  Adaptive control of simple nonlinear systems using multiple models , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[4]  Kumpati S. Narendra,et al.  Adaptive control using multiple models , 1997, IEEE Trans. Autom. Control..

[5]  Bengt Mårtensson,et al.  The order of any stabilizing regulator is sufficient a priori information for adaptive stabilization , 1985 .

[6]  Debasish Chatterjee,et al.  Input-to-state stability of switched systems and switching adaptive control , 2007, Autom..

[7]  Zhong-Ping Jiang,et al.  A unifying framework for global regulation via nonlinear output feedback: from ISS to iISS , 2004, IEEE Transactions on Automatic Control.

[8]  Xudong Ye.  Switching adaptive output-feedback control of nonlinearly parametrized systems , 2005, Autom..

[9]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[10]  Kumpati S. Narendra,et al.  Improving transient response of adaptive control systems using multiple models and switching , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[11]  Thomas S. Brinsmead,et al.  Multiple model adaptive control. Part 2: switching , 2001 .

[12]  B. Anderson,et al.  Multiple model adaptive control. Part 1: Finite controller coverings , 2000 .

[13]  João Pedro Hespanha,et al.  Supervision of integral-input-to-state stabilizing controllers , 2002, Autom..

[14]  Kumpati S. Narendra,et al.  Improving transient response of adaptive control systems using multiple models and switching , 1994 .

[15]  Zhihua Qu,et al.  Robust Control of Nonlinear Uncertain Systems Under Generalized Matching Conditions , 1993, 1993 American Control Conference.

[16]  João Pedro Hespanha,et al.  Overcoming the limitations of adaptive control by means of logic-based switching , 2003, Syst. Control. Lett..

[17]  Kumpati S. Narendra,et al.  Adaptive control of discrete-time systems using multiple models , 2000, IEEE Trans. Autom. Control..

[18]  Xudong Ye.  Logic-based switching adaptive stabilization of feedforward nonlinear systems , 1999, IEEE Trans. Autom. Control..

[19]  A. Stephen Morse,et al.  Control Using Logic-Based Switching , 1997 .

[20]  A. Morse.  Supervisory control of families of linear set-point controllers Part I. Exact matching , 1996, IEEE Trans. Autom. Control..

[21]  D. Mayne,et al.  Design issues in adaptive control , 1988 .

[22]  Hassan K. Khalil,et al.  Logic-based switching for robust control of minimum-phase nonlinear systems , 2005, Syst. Control. Lett..

[23]  Ahmet Cezayirli,et al.  Increased transient performance for the adaptive control of feedback linearizable systems using multiple models , 2006 .

[24]  Ye Xudong,et al.  Logic-based switching adaptive stabilization of feedforward nonlinear systems , 1999 .

[25]  A. Morse,et al.  Applications of hysteresis switching in parameter adaptive control , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[26]  A. Morse.  Supervisory control of families of linear set-point controllers , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[27]  Daniel E. Miller,et al.  An approach to switching control: Theory and application , 1997 .