Discrete Time Immersion and Invariance Adaptive Control for Systems in Strict Feedback Form

Yalcin Y., Astolfi A.

50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Florida, Amerika Birleşik Devletleri, 12 - 15 Aralık 2011, ss.343-347 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Florida
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.343-347
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

This paper presents a new design procedure for the adaptive stabilization (regulation) via state feedback for discrete-time nonlinear systems in parametric strict-feedback form. The algorithm utilizes discrete-time adaptive backstepping in the controller construction together with a new method for the parameter estimator design. This approach provides a recursive construction which guarantees boundness of the closed-loop trajectories and global convergence to the origin of the state of the closed-loop system. The performance of the proposed method are illustrated by simulations.