Adaptive Dynamic Inversion via Time-Scale Separation

作者：Hovakimyan Naira^*; Lavretsky Eugene; Cao Chengyu

来源：IEEE Transactions on Neural Networks, 2008, 19(10): 1702-1711.

DOI：10.1109/TNN.2008.2001221

• Adaptive control
• nonaffine systems
• time-scale separation
• ultimate boundedness

This paper presents a full state feedback adaptive dynamic inversion method for uncertain systems that depend nonlinearly upon the control input. Using a specialized set of basis functions that respect the monotonic property of the system nonlinearities with respect to control input, a state predictor is defined for derivation of the adaptive laws. The adaptive dynamic inversion controller is defined as a solution of a fast dynamical equation, which achieves time-scale separation between the state predictor and the controller dynamics. Lyapunov-based adaptive laws ensure that the predictor tracks the state of the nonlinear system with bounded errors. As a result, the system state tracks the desired reference model with bounded errors. Benefits of the proposed design method are demonstrated using Van der Pol dynamics with nonlinear control input.

• 出版日期2008-10