Adaptive control of a class of time-varying nonlinear systems via immersion and invariance

This paper addresses the adaptive control of a class of time-varying nonlinear systems. Under the framework of Immersion and Invariance (I&I) adaptive control, a set of sufficient conditions is obtained to stabilize the concerned time-varying nonlinear systems. It is shown that the presented con...

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Detalles Bibliográficos
Autores principales: Liang, Xu, Su, Tingting, Liu, Shengda, He, Guangping
Formato: Online Artículo Texto
Lenguaje:English
Publicado: SAGE Publications 2022
Materias:
Original Manuscript
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10364934/
https://www.ncbi.nlm.nih.gov/pubmed/36168281
http://dx.doi.org/10.1177/00368504221124750
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author Liang, Xu
Su, Tingting
Liu, Shengda
He, Guangping
author_facet Liang, Xu
Su, Tingting
Liu, Shengda
He, Guangping
author_sort Liang, Xu
collection PubMed
description This paper addresses the adaptive control of a class of time-varying nonlinear systems. Under the framework of Immersion and Invariance (I&I) adaptive control, a set of sufficient conditions is obtained to stabilize the concerned time-varying nonlinear systems. It is shown that the presented controller can also be utilized to complete tracking control for a class of nonholonomic constraint systems if the desired trajectories satisfy certain conditions. The effectiveness of the new adaptive controller is demonstrated by some numerical simulations on a nonholonomic mobile robot.
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spelling pubmed-103649342023-08-09 Adaptive control of a class of time-varying nonlinear systems via immersion and invariance Liang, Xu Su, Tingting Liu, Shengda He, Guangping Sci Prog Original Manuscript This paper addresses the adaptive control of a class of time-varying nonlinear systems. Under the framework of Immersion and Invariance (I&I) adaptive control, a set of sufficient conditions is obtained to stabilize the concerned time-varying nonlinear systems. It is shown that the presented controller can also be utilized to complete tracking control for a class of nonholonomic constraint systems if the desired trajectories satisfy certain conditions. The effectiveness of the new adaptive controller is demonstrated by some numerical simulations on a nonholonomic mobile robot. SAGE Publications 2022-09-27 /pmc/articles/PMC10364934/ /pubmed/36168281 http://dx.doi.org/10.1177/00368504221124750 Text en © The Author(s) 2022 https://creativecommons.org/licenses/by-nc/4.0/This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).
spellingShingle Original Manuscript
Liang, Xu
Su, Tingting
Liu, Shengda
He, Guangping
Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
title Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
title_full Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
title_fullStr Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
title_full_unstemmed Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
title_short Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
title_sort adaptive control of a class of time-varying nonlinear systems via immersion and invariance
topic Original Manuscript
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10364934/
https://www.ncbi.nlm.nih.gov/pubmed/36168281
http://dx.doi.org/10.1177/00368504221124750
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AT sutingting adaptivecontrolofaclassoftimevaryingnonlinearsystemsviaimmersionandinvariance
AT liushengda adaptivecontrolofaclassoftimevaryingnonlinearsystemsviaimmersionandinvariance
AT heguangping adaptivecontrolofaclassoftimevaryingnonlinearsystemsviaimmersionandinvariance

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