Output Feedback Adaptive Robust Control of Uncertain Linear Systems with Disturbances (1999)
| Venue: | IN PROC. OF AMERICAN CONTROL CONFERENCE |
| Citations: | 9 - 5 self |
BibTeX
@INPROCEEDINGS{Yao99outputfeedback,
author = {Bin Yao and Li Xu},
title = {Output Feedback Adaptive Robust Control of Uncertain Linear Systems with Disturbances},
booktitle = {IN PROC. OF AMERICAN CONTROL CONFERENCE},
year = {1999},
pages = {556--560},
publisher = {}
}
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Abstract
In this paper, a discontinuous projection based adaptive robust control (ARC) scheme is constructed for a class of linear systems subjected to both parametric uncertainties and bounded disturbances. The plant parameters are assumed to be unknown but belong to a known bounded region. Parameter projection is used to ensure that the parameter estimates are within the known region to solve the design conict between adaptive control (AC) and deterministic robust control (DRC). Since only output signal is available for measurement, an observer is designed to provide exponentially convergent estimates of the unmeasured states. This observer has an extended lter structure so that on-line parameter adaptation can be utilized to reduce the eect of the possible large nominal disturbance that has a known shape but unknown amplitude. Estimation errors that come from initial state estimates and uncompensated disturbances are eectively dealt with via certain robust feedback at each step ...
