On Adaptive Control of Unactuated Dynamical Systems through Interconnections with Stability and Performance Guarantees

Benjamin Gruenwald1, Tansel Yucelen1, Animesh Chakravarthy2

  • 1University of South Florida
  • 2University of Texas at Arlington

Details

10:20 - 10:40 | Mon 17 Dec | Splash 9 | MoA17.2

Session: Adaptive Control I

Abstract

In this paper, an adaptive control architecture is proposed for uncertain dynamical systems subject to interconnected actuated and unactuated dynamics with performance guarantees enforced on both dynamics. Specifically, the control and performance enforcement of the unactuated dynamics is accomplished through the physical interconnection with the actuated dynamics, where the proposed control is applied to stabilize the overall interconnected system in the presence of unknown physical interconnections as well as uncertainties in both the actuated and unactuated dynamics. The performance guarantees are enforced using a set-theoretic model reference adaptive control approach such that the respective system error trajectories of the actuated and unactuated dynamics are restricted to stay inside user-defined compact sets. We then use linear matrix inequality to verify stability of suitable control parameters as well as the allowable system uncertainties and unknown physical interconnections.