Although adaptive control theory offers mathematical tools to achieve required system performance without excessive dependence on modeling, its application to safety-critical systems can be limited by the presence of unmodeled dynamics. This paper examines the robustness to unmodeled dynamics of a recently developed derivative-free adaptive control law. In contrast to derivative-based adaptive laws, it is shown, using a Lyapunov–Krasovskii functional, that robustness to unmodeled dynamics is improved by increasing the adaptation gain. This is accomplished by including a bias term in the set of basis functions employed by the adaptive control law. It is shown that derivative-based adaptive laws do not offer the same advantage. Examples are presented that compare these two forms of adaptation in the context of sensitivity to unmodeled dynamics.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robustness of a Derivative-Free Adaptive Control Law


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2014-04-22


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Robustness of a derivative-free adaptive control law

    Yucelen, Tansel | Online Contents | 2014



    Derivative-free adaptive control

    Yucelen, Tansel / Calise, Anthony J. | TIBKAT | 2023


    Robustness of a Derivative-Free Adaptive Control Law in the Presence of Unmodeled Dynamics (AIAA 2013-4516)

    Yucelen, T. / Calise, A.J. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2013


    Derivative-Free Output Feedback Adaptive Control

    Yucelen, Tansel / Kim, Kilsoo / Calise, Anthony | AIAA | 2011