11,162 research outputs found
Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation
We investigate the problem of practical output regulation, i.e., to design a
controller that brings the system output in the vicinity of a desired target
value while keeping the other variables bounded. We consider uncertain systems
that are possibly nonlinear and the uncertainty of their linear parts is
modeled element-wise through a parametric family of matrix boxes. An
optimization-based design procedure is proposed that delivers a continuous-time
control and estimates the maximal regulation error. We also analyze an
event-triggered emulation of this controller, which can be implemented on a
digital platform, along with an explicit estimates of the regulation error
Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation
We investigate the problem of practical output regulation: Design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of the linear part is modeled element-wise through a parametric family of matrix boxes. An optimization-based design procedures is proposed that delivers a continuous-time control and estimates the maximal regulation error. We also analyze an event-triggered emulation of this controller, which can be implemented on a digital platform, along with an explicit estimates of the regulation error
Adaptive Control By Regulation-Triggered Batch Least-Squares Estimation of Non-Observable Parameters
The paper extends a recently proposed indirect, certainty-equivalence,
event-triggered adaptive control scheme to the case of non-observable
parameters. The extension is achieved by using a novel Batch Least-Squares
Identifier (BaLSI), which is activated at the times of the events. The BaLSI
guarantees the finite-time asymptotic constancy of the parameter estimates and
the fact that the trajectories of the closed-loop system follow the
trajectories of the nominal closed-loop system ("nominal" in the sense of the
asymptotic parameter estimate, not in the sense of the true unknown parameter).
Thus, if the nominal feedback guarantees global asymptotic stability and local
exponential stability, then unlike conventional adaptive control, the newly
proposed event-triggered adaptive scheme guarantees global asymptotic
regulation with a uniform exponential convergence rate. The developed adaptive
scheme is tested to a well-known control problem: the state regulation of the
wing-rock model. Comparisons with other adaptive schemes are provided for this
particular problem.Comment: 29 pages, 12 figure
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