This letter proposes a new adaptive control method for a class of nonlinearly-parametrized switched systems that includes Monod kinetics and Euler-Lagrange systems with nonlinear in parameters form as special cases. As compared to the adaptive switched frameworks proposed in literature, the proposed adaptation framework has the distinguishing feature of updating the gains of the active and inactive subsystems simultaneously: by doing this it avoids high gains for the active subsystems or vanishing gains for the inactive ones. The design is studied analytically and its performance is validated in simulation with a robotic manipulator example.

Original languageEnglish
Pages (from-to)487-492
JournalIEEE Control Systems Letters
Issue number3
Publication statusPublished - 2019

    Research areas

  • Adaptive control, Kinetic theory, Switched systems, Switched systems., Switches, System dynamics, Uncertainty, Upper bound

ID: 52737694