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Decreasing the value of specified cost function by adaptive controller based on modified ACLF for a class of nonlinear systems
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نویسنده
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okano k. ,hagino k. ,oya h.
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منبع
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journal of control science and engineering - 2014 - دوره : 2014 - شماره : 0
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چکیده
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A new nonlinear adaptive control law for a class of uncertain nonlinear systems is proposed. the proposed control law is designed by a modified adaptive control lyapunov function (aclf) which satisfies a hamilton-jacobi-bellman (hjb) equation. the modified aclf is derived from transformation of an aclf. the proposed control law is different from the inverse optimal one in decreasing the value of a cost function specified by a designer. in this paper,we show a transformation coefficient for an aclf and a design method of a nonlinear adaptive controller. finally,it is shown by a numerical simulation that the proposed control law decreases the value of a given cost function and achieves the desirable trajectory. © 2014 keizo okano et al.
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آدرس
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department of systems engineering,university of electro-communications,1-5-1 chofugaoka,chofu, Japan, university of electro-communications,1-5-1 chofugaoka,chofu, Japan, institute of technology and science,university of tokushima,2-1 minamijosanjima, Japan
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Authors
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