Robust adaptive regulation without persistent excitationA globally convergent adaptive regulator for minimum- or nonminimum-phase systems subject to bounded disturbances and unmodeled dynamics is presented. The control strategy is designed for a particular input-output representation obtained from the state space representation of the system. The leading coefficient of the representation is the product of the observability and controllability matrices of the system. The controller scheme uses a Least-Squares identification algorithm a with dead zone. The dead zone is chosen to obtain convergence properties on the estimates and on the covariance matrix as well. This allows the definition of modified estimates which secure well-conditioned matrices in the adaptive control law. Explicit bounds on the plant output are given.
Document ID
19890066702
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lozano-Leal, Rogelio (NASA Langley Research Center Hampton, VA; Grenoble, Ecole Nationale Superieure d'Ingenieurs Electriciens, Saint-Martin-d'Heres, France)