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Exponentially Stable Adaptive Control. Part I. Time-Invariant Plants

  • ROBUST, ADAPTIVE AND NETWORK CONTROL
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Abstract

We propose a new controller parameter adaptive law that guarantees the exponential stability of the classical dynamic model of the tracking error without using its coordinates in the adaptive law and relaxes some classical assumptions and requirements of adaptive control theory (the need to know the sign/value of the control input gain, the need for an experimental choice of the adaptive law gain, and the requirement to the tracking error transfer function to be strictly positive real considering the output feedback control). The applicability of the proposed law to adaptive state and output feedback control problems is shown. The advantages of developed approach over the existing ones are demonstrated mathematically and experimentally.

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Funding

This research was financially supported in part by Grants Council of the President of the Russian Federation, project no. MD-1787.2022.4.

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Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, 117997, Russia

    A. I. Glushchenko & K. A. Lastochkin

  2. Ugarov Staryi Oskol Technological Institute, Branch of National University of Science and Technology “MISiS”, Staryi Oskol, Belgorod oblast, 309516, Russia

    V. A. Petrov

Authors
  1. A. I. Glushchenko
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  2. K. A. Lastochkin
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  3. V. A. Petrov
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Corresponding authors

Correspondence to A. I. Glushchenko, K. A. Lastochkin or V. A. Petrov.

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Translated by V. Potapchouck

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Glushchenko, A.I., Lastochkin, K.A. & Petrov, V.A. Exponentially Stable Adaptive Control. Part I. Time-Invariant Plants. Autom Remote Control 83, 548–578 (2022). https://doi.org/10.1134/S000511792204004X

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  • DOI: https://doi.org/10.1134/S000511792204004X

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