Adaptive dynamic inversion via time-scale separation.
This paper presents a full state feedback adaptive dynamic inversion method for uncertain systems that depend nonlinearly upon the control input. Using a specialized set of basis functions that respect the monotonic property of the system nonlinearities with respect to control input, a state predictor is defined for derivation of the adaptive laws. The adaptive dynamic inversion controller is defined as a solution of a fast dynamical equation, which achieves time-scale separation between the state predictor and the controller dynamics. Lyapunov-based adaptive laws ensure that the predictor tracks the state of the nonlinear system with bounded errors. As a result, the system state tracks the desired reference model with bounded errors. Benefits of the proposed design method are demonstrated using Van der Pol dynamics with nonlinear control input.
Hovakimyan
Naira
N
Department of Mechanical Science and Engineering of University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA. nhovakim@illinois.edu
Lavretsky
Eugene
E
Cao
Chengyu
C
D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D009716:Numerical Analysis, Computer-Assisted