Robust adaptive control of uncertain discrete-time systems
type: Item
instance of: scholarly article
title: Robust adaptive control of uncertain discrete-time systems
zbMATH Open document ID: 0935.93053
DOI: 10.1016/S0005-1098(98)00156-3
author: V. Pereyra
published in: Automatica
publication date: 1999-12-05T00:00:00Z
review text: Considering both external disturbances and unmodelled dynamics, the design of the controller here combines the backstepping technique with parameter projection. An intermediate constant is introduced in the normalizing term of the parameter estimator to allow for nonparametric uncertainties in the estimators properties. It is shown that the boundedness of the whole adaptive closed-loop system is guaranteed for any bounded initial conditions, set-point signals and external disturbances. The tracking error is bounded by a function of the size of the unmodelled dynamics, while in the ideal case (no disturbances and unmodelled dynamics) perfect tracking is ensured.
Mathematics Subject Classification ID: 93D21
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C55
zbMATH DE Number: 1325698
zbMATH Keywords: discrete-time systems
zbMATH Keywords: adaptive control
zbMATH Keywords: nonlinear control
zbMATH Keywords: backstepping
zbMATH Keywords: parameter projection
zbMATH Keywords: external disturbances
zbMATH Keywords: tracking error
reviewed by: Mihail Voicu
MaRDI profile type: Publication
full work available at URL: s0005-1098(98)00156-3
OpenAlex ID: W2032407582
description: scientific article; zbMATH DE number 1325698