ROBUST DIRECT ADAPTIVE CONTROLLERS WITH A NEW NORMALIZATION TECHNIQUE

Authors
FENG G PALANISWAMI M
Citation
G. Feng et M. Palaniswami, ROBUST DIRECT ADAPTIVE CONTROLLERS WITH A NEW NORMALIZATION TECHNIQUE, IEEE transactions on automatic control, 39(11), 1994, pp. 2330-2334
Citations number
16
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
39
Issue
11
Year of publication
1994
Pages
2330 - 2334
Database
ISI
SICI code
0018-9286(1994)39:11<2330:RDACWA>2.0.ZU;2-C
Abstract
This note presents a robust direct adaptive control scheme with a new normalization technique and its stability analysis in the presence of unmodeled dynamics and/or bounded disturbances. Following input-output stability theory, L(2) and L infinity stability of the system is stud ied using the sector stability and passivity theorems and conditions f or global stability are derived. It is also shown that robustness of t he adaptive control system can be improved when relative dead zone and the novel normalization technique are incorporated into the scheme.