期刊
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC)
卷 -, 期 -, 页码 7019-7024出版社
IEEE
关键词
Adaptive control; Strict Lyapunov function; Integral input-to-state stability; Nonlinear parameterization; Uniform asymptotic stability
This paper studies the immersion and invariance (I&I)-based adaptive tracking problem of nonlinear systems with linear and nonlinear parameterizations. For a linear parameterization of the unknown parameters, a new strict Lyapunov function construction method is first presented for I&I adaptive control systems using the notion of integral input-to-state stability (iISS). This then motivates us to develop a new adaptive I&I tracking control scheme for a class of nonlinearly parameterized systems. Under an ISS small-gain condition, a strict Lyapunov function can be explicitly constructed to show that both global asymptotic tracking and estimation can be achieved uniformly.
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