TY - GEN
T1 - Continuous-Time Model-Free Adaptive Control for Nonlinear Plants
AU - Yu, Hao
AU - Li, Wangjiang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper studies continuous-Time model-free adaptive control (MFAC) framework for solving set-point tracking problems of second-order nonlinear time-invariant plants. First, the dynamical linearization process for continuous-Time nonlinear plants is established for the first time. On the basis of the proposed dynamical linearization models, continuous-Time MFAC, which includes the forms of control inputs and adaptive laws for the involved parameter estimation, is designed. In the proposed continuous-Time MFAC, only input/output data is utilized and there are no parameters that need to be tuned. Then, a Lyapunov-based theoretical analysis is provided to show the global stability of the closed-loop system and the convergence of tracking errors. Finally, numerical simulations are given to illustrate the efficiency and feasibility of the proposed results.
AB - This paper studies continuous-Time model-free adaptive control (MFAC) framework for solving set-point tracking problems of second-order nonlinear time-invariant plants. First, the dynamical linearization process for continuous-Time nonlinear plants is established for the first time. On the basis of the proposed dynamical linearization models, continuous-Time MFAC, which includes the forms of control inputs and adaptive laws for the involved parameter estimation, is designed. In the proposed continuous-Time MFAC, only input/output data is utilized and there are no parameters that need to be tuned. Then, a Lyapunov-based theoretical analysis is provided to show the global stability of the closed-loop system and the convergence of tracking errors. Finally, numerical simulations are given to illustrate the efficiency and feasibility of the proposed results.
KW - Model-free adaptive control
KW - continuous-Time system
KW - dynamical linearization
KW - nonlinear system
UR - http://www.scopus.com/inward/record.url?scp=85185198910&partnerID=8YFLogxK
U2 - 10.1109/RCAE59706.2023.10398870
DO - 10.1109/RCAE59706.2023.10398870
M3 - Conference contribution
AN - SCOPUS:85185198910
T3 - 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
SP - 239
EP - 243
BT - 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
Y2 - 3 November 2023 through 5 November 2023
ER -