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.
Department of Mechanical Science and Engineering of University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA. nhovakim@illinois.edu
Naira
N
Hovakimyan
Eugene
E
Lavretsky
Chengyu
C
Cao
D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D009716:Numerical Analysis, Computer-Assisted