On uniform global asymptotic stability of adaptive systems with unknown control gains
We study adaptive tracking control problems for nonlinear systems in feedback form with multiple inputs and unknown high-frequency control gains. We design controllers that yield uniform global asymptotic stability for the error dynamics, which implies parameter estimation and tracking for the original systems. Our proof relies on a new global strict Lyapunov function construction. We apply our result to a brushless DC motor turning a mechanical load. We use integral input-to-state stability to quantify the effects of time-varying uncertainties on the motor electric parameters. © 2010 AACC.
Publication Source (Journal or Book title)
Proceedings of the 2010 American Control Conference, ACC 2010
Mazenc, F., Malisoff, M., & De Queiroz, M. (2010). On uniform global asymptotic stability of adaptive systems with unknown control gains. Proceedings of the 2010 American Control Conference, ACC 2010, 166-171. https://doi.org/10.1109/acc.2010.5530488