Title:
An LMI-based Stability Analysis for Adaptive Controllers
An LMI-based Stability Analysis for Adaptive Controllers
Author(s)
Yang, Bong-Jun
Yucelen, Tansel
Calise, Anthony J.
Shin, Jong-Yeob
Yucelen, Tansel
Calise, Anthony J.
Shin, Jong-Yeob
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Abstract
We develop a Linear Matrix Inequality (LMI)
tool for analyzing the stability and performance of adaptive
controllers that employ σ−modification. The formulation
involves recasting the error dynamics composed of the
tracking error and the weight estimator error into a linear
parameter varying form. We show how stability, convergence
rate, domain of attraction, and the transient and
steady state behavior of the adaptive control system can be
analyzed using the developed LMI tool. It is guaranteed
that less conservative estimates for the convergence rate
and the size of the ultimate bound for the tracking error
are obtained compared to the standard analysis in the literature.
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Date Issued
2009-06
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Text
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Proceedings