Immersion and Invariance Based Composite Adaptive Control of Nonlinear High-Order Systems
作者单位：Institute of AutomationChinese Academy of Sciences
会议名称：《第30届中国控制与决策会议》
会议日期：2018年
学科分类：08[工学] 0802[工学-机械工程] 0835[工学-软件工程] 080201[工学-机械制造及其自动化]
基 金：supported by National Nature Science Foundation under Grant No.61603384 No.61403381 No.61421004
关 键 词：Immersion and Invariance Adaptive Control Composite Adaptive Control High-Order Systems
摘 要：A new nonlinear composite adaptive control based on immersion and invariance theory is presented for a class of high-order system with parametric *** main feature of this control scheme lies in the construction of the adaptive law,which is driven by both tracking error and prediction *** tracking-error based adaptation law is first constructed using immersion and invariance theory,then the prediction-error based adaptation law is added to it,thus makes a composite adaptive control *** combination is applied to the immersion and invariance based adaptive control with improved *** analysis is presented using Lyapunov theory,which shows asymptotical convergence of the tracking error to *** validity of the proposed control scheme is illustrated through numerical simulations.