Prescribed-performance tracking for high-power nonlinear dynamics with time-varying unknown control coefficients

Maolong Lv; Zhiyong Chen; Bart De Schutter; Simone Baldi

doi:10.1016/j.automatica.2022.110584

Prescribed-performance tracking for high-power nonlinear dynamics with time-varying unknown control coefficients

Maolong Lv, Zhiyong Chen, Bart De Schutter, Simone Baldi^*

^*Corresponding author for this work

Team Bart De Schutter

Research output: Contribution to journal › Article › Scientific › peer-review

42 Citations (SciVal)

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Abstract

Prescribed-performance control (PPC) for high-power dynamics with time-varying unknown control coefficients requires to address two open problems: (a) given a Nussbaum function, which properties hold for the power of the Nussbaum function? (b) to avoid high gains, how to design a switching gain that increases only when the tracking error is close to violate the performance bounds? To address the first problem, we show with a counterexample and a positive example that only some Nussbaum functions are suited to handle time-varying unknown control coefficients for high-power dynamics. To address the second problem, we propose a new switching conditional inequality.

Original language	English
Article number	110584
Number of pages	9
Journal	Automatica
Volume	146
DOIs	https://doi.org/10.1016/j.automatica.2022.110584
Publication status	Published - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Adaptive control
High-power nonlinear dynamics
Nussbaum function
PPC
Switching conditional inequality

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10.1016/j.automatica.2022.110584

1-s2.0-S0005109822004460-mainFinal published version, 857 KB

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title = "Prescribed-performance tracking for high-power nonlinear dynamics with time-varying unknown control coefficients",

abstract = "Prescribed-performance control (PPC) for high-power dynamics with time-varying unknown control coefficients requires to address two open problems: (a) given a Nussbaum function, which properties hold for the power of the Nussbaum function? (b) to avoid high gains, how to design a switching gain that increases only when the tracking error is close to violate the performance bounds? To address the first problem, we show with a counterexample and a positive example that only some Nussbaum functions are suited to handle time-varying unknown control coefficients for high-power dynamics. To address the second problem, we propose a new switching conditional inequality.",

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AU - De Schutter, Bart

AU - Baldi, Simone

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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N2 - Prescribed-performance control (PPC) for high-power dynamics with time-varying unknown control coefficients requires to address two open problems: (a) given a Nussbaum function, which properties hold for the power of the Nussbaum function? (b) to avoid high gains, how to design a switching gain that increases only when the tracking error is close to violate the performance bounds? To address the first problem, we show with a counterexample and a positive example that only some Nussbaum functions are suited to handle time-varying unknown control coefficients for high-power dynamics. To address the second problem, we propose a new switching conditional inequality.

AB - Prescribed-performance control (PPC) for high-power dynamics with time-varying unknown control coefficients requires to address two open problems: (a) given a Nussbaum function, which properties hold for the power of the Nussbaum function? (b) to avoid high gains, how to design a switching gain that increases only when the tracking error is close to violate the performance bounds? To address the first problem, we show with a counterexample and a positive example that only some Nussbaum functions are suited to handle time-varying unknown control coefficients for high-power dynamics. To address the second problem, we propose a new switching conditional inequality.

KW - Adaptive control

KW - High-power nonlinear dynamics

KW - Nussbaum function

KW - PPC

KW - Switching conditional inequality

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Prescribed-performance tracking for high-power nonlinear dynamics with time-varying unknown control coefficients

Abstract

Bibliographical note

Keywords

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