Uniform global asymptotic stability of adaptively controlled nonlinear systems via strict lyapunov functions

Document Type

Conference Proceeding

Publication Date

10-19-2009

Abstract

We prove global uniform asymptotic stability of adoptively controlled dynamics by constructing explicit global strict Lya-punov functions. We assume a persistency of excitation condition that implies both asymptotic tracking and parameter identification. We also construct input-to-state stable Lyapunov functions under an added growth assumption on the regressor, assuming that the unknown parameter vector is subject to suitably bounded time-varying uncertainties. This quantifies the effects of uncertainties on the tracking and parameter estimation. We demonstrate our results using the Rössler system. Copyright © 2008 by ASME.

Publication Source (Journal or Book title)

2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

First Page

67

Last Page

72

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