Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective

Lei Wang; Christopher M. Kellett

doi:10.1109/CDC40024.2019.9029691

Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective

Lei Wang, Christopher M. Kellett

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper studies the immersion and invariance (II)-based adaptive tracking problem of nonlinear systems with linear and nonlinear parameterizations. For a linear parameterization of the unknown parameters, a new strict Lyapunov function construction method is first presented for II adaptive control systems using the notion of integral inputto-state stability (iISS). This then motivates us to develop a new adaptive II tracking control scheme for a class of nonlinearly parameterized systems. Under an ISS small-gain condition, a strict Lyapunov function can be explicitly constructed to show that both global asymptotic tracking and estimation can be achieved uniformly.

Original language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7019-7024
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9029691
Publication status	Published - Dec 2019
Externally published	Yes
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19

Access to Document

10.1109/CDC40024.2019.9029691

Cite this

Wang, L., & Kellett, C. M. (2019). Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 7019-7024). Article 9029691 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029691

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title = "Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective",

abstract = "This paper studies the immersion and invariance (II)-based adaptive tracking problem of nonlinear systems with linear and nonlinear parameterizations. For a linear parameterization of the unknown parameters, a new strict Lyapunov function construction method is first presented for II adaptive control systems using the notion of integral inputto-state stability (iISS). This then motivates us to develop a new adaptive II tracking control scheme for a class of nonlinearly parameterized systems. Under an ISS small-gain condition, a strict Lyapunov function can be explicitly constructed to show that both global asymptotic tracking and estimation can be achieved uniformly.",

keywords = "Adaptive control, Integral input-to-state stability, Nonlinear parameterization, Strict Lyapunov function, Uniform asymptotic stability",

author = "Lei Wang and Kellett, {Christopher M.}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 58th IEEE Conference on Decision and Control, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

year = "2019",

month = dec,

doi = "10.1109/CDC40024.2019.9029691",

language = "English",

series = "Proceedings of the IEEE Conference on Decision and Control",

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Wang, L & Kellett, CM 2019, Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029691, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 7019-7024, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029691

Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective. / Wang, Lei; Kellett, Christopher M.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 7019-7024 9029691 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Lei

AU - Kellett, Christopher M.

PY - 2019/12

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N2 - This paper studies the immersion and invariance (II)-based adaptive tracking problem of nonlinear systems with linear and nonlinear parameterizations. For a linear parameterization of the unknown parameters, a new strict Lyapunov function construction method is first presented for II adaptive control systems using the notion of integral inputto-state stability (iISS). This then motivates us to develop a new adaptive II tracking control scheme for a class of nonlinearly parameterized systems. Under an ISS small-gain condition, a strict Lyapunov function can be explicitly constructed to show that both global asymptotic tracking and estimation can be achieved uniformly.

AB - This paper studies the immersion and invariance (II)-based adaptive tracking problem of nonlinear systems with linear and nonlinear parameterizations. For a linear parameterization of the unknown parameters, a new strict Lyapunov function construction method is first presented for II adaptive control systems using the notion of integral inputto-state stability (iISS). This then motivates us to develop a new adaptive II tracking control scheme for a class of nonlinearly parameterized systems. Under an ISS small-gain condition, a strict Lyapunov function can be explicitly constructed to show that both global asymptotic tracking and estimation can be achieved uniformly.

KW - Adaptive control

KW - Integral input-to-state stability

KW - Nonlinear parameterization

KW - Strict Lyapunov function

KW - Uniform asymptotic stability

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U2 - 10.1109/CDC40024.2019.9029691

DO - 10.1109/CDC40024.2019.9029691

M3 - Conference contribution

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 7019

EP - 7024

BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 11 December 2019 through 13 December 2019

ER -

Adaptive Tracking Control via Immersion and Invariance: An (i)ISS Perspective

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