Adaptive Multi-periodic Repetitive Control for a class of Non-linear Systems

Authors:	Dang Hongwei, the University of Sheffield, United Kingdom Owens David H., the University of Sheffield, United Kingdom
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Controller Design
Keywords:	iterative methods, passive, nonlinear systems, Lyapunov stability, adaptive control

Abstract

Recently it was shown that for the linear time-invariant plant ASPR(Almost Strictly Positive Real)/ASNR(Almost Strictly Negative Real) property can be used to design an adaptive multi-periodic repetitive control system that guarantee the Lyapunov stability of the whole system. This paper attempts to extend this concept to SP(Strictly Passive)/ASP(Almost Strictly Passive) non-linear plant. The general non-linear plant without {\em a priori} knowledge of parameters is considered. A Nussbaum-type adaptive gain is introduced when the control direction of non-linear plant is unknown. Lyapunov stability analysis is presented and simulation is given accordingly.