TY - JOUR
T1 - On reduced-complexity robust adaptive control of switched Euler–Lagrange systems
AU - Roy, Spandan
AU - Baldi, Simone
PY - 2019
Y1 - 2019
N2 - State-of-the-art adaptive or robust adaptive techniques for several classes of uncertain switched systems demand structural knowledge of the system dynamics in order to appropriately select the regressor terms in the adaptive law. As a result, the number of unknown parameters to be adapted increases with system complexity, which can lead to very complex adaptive laws. In this work we propose, for the relevant class of Euler–Lagrange systems subject to time-dependent slow switching, a switched robust adaptive control framework with reduced complexity: the number of unknown parameter to be adapted is independent on the system complexity, whereas the regressor terms in the adaptive laws do not require any structural knowledge of the system dynamics. Stability analysis is provided to illustrate the benefit of the proposed design, and the performance of the controller is verified using a switched system stemming from the combination of mooring and free-hanging operations in dynamic positioning of offshore ships.
AB - State-of-the-art adaptive or robust adaptive techniques for several classes of uncertain switched systems demand structural knowledge of the system dynamics in order to appropriately select the regressor terms in the adaptive law. As a result, the number of unknown parameters to be adapted increases with system complexity, which can lead to very complex adaptive laws. In this work we propose, for the relevant class of Euler–Lagrange systems subject to time-dependent slow switching, a switched robust adaptive control framework with reduced complexity: the number of unknown parameter to be adapted is independent on the system complexity, whereas the regressor terms in the adaptive laws do not require any structural knowledge of the system dynamics. Stability analysis is provided to illustrate the benefit of the proposed design, and the performance of the controller is verified using a switched system stemming from the combination of mooring and free-hanging operations in dynamic positioning of offshore ships.
KW - Euler–Lagrange systems
KW - Robust adaptive control
KW - Switched systems
UR - http://www.scopus.com/inward/record.url?scp=85068519701&partnerID=8YFLogxK
U2 - 10.1016/j.nahs.2019.07.002
DO - 10.1016/j.nahs.2019.07.002
M3 - Article
AN - SCOPUS:85068519701
SN - 1751-570X
VL - 34
SP - 226
EP - 237
JO - Nonlinear Analysis: Hybrid Systems
JF - Nonlinear Analysis: Hybrid Systems
ER -