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Immersion and invariance adaptive control of linear multivariable systems

โœ Scribed by Romeo Ortega; Liu Hsu; Alessandro Astolfi

Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
243 KB
Volume
49
Category
Article
ISSN
0167-6911

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โœฆ Synopsis

We show in this paper that it is possible to globally adaptively stabilize linear multivariable systems with reduced prior knowledge of the high-frequency gain. In particular, we relax the restrictive (nongeneric) symmetry condition usually required to solve this problem. Instrumental for the establishment of our result is the use of the new immersion and invariance approach to adaptive control recently proposed in the literature. The controllers obtained with this technique are not certainty equivalent-though smooth and without projections or overparameterizations-and the resulting Lyapunov functions contain cross-terms between the plant states and the parameter errors.

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