Adaptive dynamic inversion via time-scale separation

Naira Hovakimyan, Eugene Lavretsky, Chengyu Cao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control systems. The adaptive dynamic inversion controller is defined as a solution of a fast dynamical equation, which achieves time-scale separation between a state predictor and the controller dynamics. Lyapunov based adaptive laws ensure that the state predictor tracks the actual nonlinear system with bounded errors. As a result, the system state tracks the reference model with bounded errors. Benefits of the proposed design method are demonstrated using Van der Pol dynamics with nonlinear control input.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1075-1080
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Externally publishedYes
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Hovakimyan, N., Lavretsky, E., & Cao, C. (2006). Adaptive dynamic inversion via time-scale separation. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 1075-1080). [4177118] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.377287