Abstract: This paper is concerned with the derivation of a novel model reference adaptive control (MRAC) scheme for piecewise-affine (PWA) continuous systems. A novel version of the minimal control synthesis algorithm, originally developed as a MRAC for smooth systems, is presented. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The proof of stability, based on the newly developed passivity theory for hybrid systems, is provided and the effectiveness of the new proposed control strategy is numerically tested.
Novel switched Model Reference Adaptive Control for continuous Piecewise Affine systems / DI BERNARDO, Mario; Montanaro, Umberto; Santini, Stefania. - STAMPA. - (2008), pp. 4739182.1925-4739182.1930. (Intervento presentato al convegno IEEE Conference on Decision and Control 2008 tenutosi a Cancun, Mexico nel DICEMBRE 2008) [10.1109/CDC.2008.4739182].
Novel switched Model Reference Adaptive Control for continuous Piecewise Affine systems
DI BERNARDO, MARIO;MONTANARO, Umberto;SANTINI, STEFANIA
2008
Abstract
Abstract: This paper is concerned with the derivation of a novel model reference adaptive control (MRAC) scheme for piecewise-affine (PWA) continuous systems. A novel version of the minimal control synthesis algorithm, originally developed as a MRAC for smooth systems, is presented. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The proof of stability, based on the newly developed passivity theory for hybrid systems, is provided and the effectiveness of the new proposed control strategy is numerically tested.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
