Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Direct Adaptive Controller with a Novel Kind of Lyapunov Function

새로운 형태의 Lyapunov 함수를 이용한 직접 적응 제어기의 설계

  • Lee, Hyo-Seop (Dept. of Electronic Engineering Hanyang University) ;
  • Yang, Hae-Won (Dept. of Electronic computer Engineering, Hanyang University)
  • 이효섭 (한양대학교 전기공학과) ;
  • 양해원 (한양대학교 전자컴퓨터공학부)
  • Published : 2002.07.01
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Abstract

We propose a direct adaptive controller for a class of nonlinearly parametrized systems. A normalized output error is added to the previous control law to construct the proposed adaptive controller. The transient performance of the resulting closed-loop system can be guaranteed by suitably choosing a novel kind of Lyapunov function while the tracking performance of the adaptive control system is improved using the proposed algorithm. Finally, the effectiveness of the proposed algorithm is illustrated with computer simulation.

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References

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