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Trajectory Tracking Under Unknown Delay and ODE Parameters

  • Miroslav Krstic
Chapter
Part of the Systems & Control: Foundations & Applications book series (SCFA)

Abstract

In Chapter 7 we presented an adaptive control design for an ODE system with a possibly large actuator delay of unknown length.We achieved global stability under full-state feedback.

In this chapter we generalize the design from Chapter 7 in two major ways: We extend it to ODEs with unknown parameters and extend it from equilibrium regulation to trajectory tracking. These issues were not pursued immediately in Chapter 7 for pedagogical reasons, to prevent the tool from achieving global adaptivity in the infinite-dimensional (delay) context from being buried under standard but nevertheless complicated details of ODE adaptive control.

Keywords

Global Stability Trajectory Tracking Reference Trajectory Uniform Boundedness Adaptation Gain 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Birkhäuser Boston 2009

Authors and Affiliations

  1. 1.Department of Mechanical and Aerospace EngineeringUniversity of CaliforniaSan Diego, La JollaUSA

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