Invariant Manifolds and Asymptotic Properties of Adaptive Nonlinear Stabilizers - Automatic Control, IEEE Transactions on
نویسنده
چکیده
A classical question in adaptive control is that of convergence of the parameter estimates to constant values in the absence of persistent excitation. We provide an affirmative answer for a class of adaptive stabilizers for nonlinear systems. Then we study their asymptotic behavior by considering the problem of whether the parameter estimates converge to stabilizing values-the values which would guarantee stabilization if used in a nonadaptive controller. We approach this problem by studying invariant manifolds and show that except for a set of initial conditions of Lebesgue measure zero, the parameter estimates do converge to stabilizing values. Finally, we determine a (sufficiently large) time instant after which the adaptation can be disconnected ut any time without destroying the closed-loop system stability.
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تاریخ انتشار 2004