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M-MRAC Backstepping for Systems with Unknown Virtual Control CoefficientsThe paper presents an over-parametrization free certainty equivalence state feedback backstepping adaptive control design method for systems of any relative degree with unmatched uncertainties and unknown virtual control coefficients. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters. The benefits of the approach are demonstrated in numerical simulations.
Document ID
20150018874
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Authors
Stepanyan, Vahram (California Univ. Santa Cruz, CA, United States)
Krishnakumar, Kalmanje (NASA Ames Research Center Moffett Field, CA United States)
Date Acquired
October 7, 2015
Publication Date
September 21, 2015
Subject Category
Numerical Analysis
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
ARC-E-DAA-TN24312
Report Number: ARC-E-DAA-TN24312
Meeting Information
Meeting: MSC 2015: IEEE Multi-Conference on Systems and Control
Location: Sydney
Country: Australia
Start Date: September 21, 2015
End Date: September 23, 2015
Sponsors: Institute of Electrical and Electronics Engineers
Funding Number(s)
CONTRACT_GRANT: NAS2-03144
Distribution Limits
Public
Copyright
Public Use Permitted.
Keywords
Certainty equivalence control
Nonlinear uncertain sistems
Guaranteed performance

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