Adaptive approach to cost reduction in nonlinear uncertain systems using Lyapunov design

Vincent L. Rawls*, Randy A Freeman

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

A time-varying/dynamic compensation strategy for nonlinear uncertain systems is proposed which adaptively selects one controller from a parameterized family of Lyapunov-based stabilizing controllers. The purpose of the adaptation is to choose the controller that reduces the value of a given cost functional, but stability is guaranteed regardless of whether or not parameter errors prevent cost reduction. This method is potentially applicable to the control of slowly varying nonlinear systems, where it is possible to numerically solve optimal control problems on line. The potential of this method is demonstrated in simulation.

Original languageEnglish (US)
Pages (from-to)4730-4735
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume5
StatePublished - Dec 1 1999

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

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