A simultaneous adaptation law for a class of nonlinearly-parametrized switched systems

Journal article (2019)

Authors

S. Roy Ship Design, Production and Operations - Mechanical, Maritime and Materials Engineering
Research Group
Ship Design, Production and Operations (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 S. Roy, S. Baldi
DOI: https://doi.org/10.1109/LCSYS.2019.2904397
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Published Date

2019

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Ship Design, Production and Operations

Abstract

This letter proposes a new adaptive control method for a class of nonlinearly-parametrized switched systems that includes Monod kinetics and Euler-Lagrange systems with nonlinear in parameters form as special cases. As compared to the adaptive switched frameworks proposed in literature, the proposed adaptation framework has the distinguishing feature of updating the gains of the active and inactive subsystems simultaneously: by doing this it avoids high gains for the active subsystems or vanishing gains for the inactive ones. The design is studied analytically and its performance is validated in simulation with a robotic manipulator example.

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