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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)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: 1989 American Control Conference
Location: Pittsburgh, PA
Country: United States
Start Date: June 21, 1989
End Date: June 23, 1989
Accession Number
89A54073
Distribution Limits
Public
Copyright
Other

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