Adaptive control design for nonsmooth systems with uncertainty
| Authors: | Nakakuki Takashi, Sophia University, Japan
Shen Tielong, Sophia University, Japan
Tamura Katsutoshi, Sophia University, Japan |
|---|
| Topic: | 2.3 Non-Linear Control Systems |
|---|
| Session: | Adaptive Nonlinear Control |
|---|
| Keywords: | Discontinuities, Discontinuous control, Adaptive control, Stability analysis, Lyapunov stability |
|---|
Abstract
The paper presents an adaptive controller design for a class of nonsmooth systems with uncertainty.The design method is based on the concept of the Filippov solution since a classical approach can not be applied to establish the stability of the adaptive control system.It is shown by means of a solid nonsmooth analysis that the adaptive control system is globally strongly stable and the state of the controlled system converges to the origin while the uniqueness of the solution of the closed loop system is not necessarily guaranteed.
