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A Simultaneous Adaptation Law for a Class of Nonlinearly-Parametrized Switched Systems. / Roy, Spandan; Baldi, Simone.

In: IEEE Control Systems Letters, Vol. 3, No. 3, 2019, p. 487-492.

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@article{cc00db74a907441c8263f41ac2c058d0,
title = "A Simultaneous Adaptation Law for a Class of Nonlinearly-Parametrized Switched Systems",
abstract = "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.",
keywords = "Adaptive control, Kinetic theory, Switched systems, Switched systems., Switches, System dynamics, Uncertainty, Upper bound",
author = "Spandan Roy and Simone Baldi",
note = "Accepted Author Manuscript",
year = "2019",
doi = "10.1109/LCSYS.2019.2904397",
language = "English",
volume = "3",
pages = "487--492",
journal = "IEEE Control Systems Letters",
issn = "2475-1456",
publisher = "IEEE",
number = "3",

}

RIS

TY - JOUR

T1 - A Simultaneous Adaptation Law for a Class of Nonlinearly-Parametrized Switched Systems

AU - Roy, Spandan

AU - Baldi, Simone

N1 - Accepted Author Manuscript

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Adaptive control

KW - Kinetic theory

KW - Switched systems

KW - Switched systems.

KW - Switches

KW - System dynamics

KW - Uncertainty

KW - Upper bound

UR - http://www.scopus.com/inward/record.url?scp=85062957420&partnerID=8YFLogxK

U2 - 10.1109/LCSYS.2019.2904397

DO - 10.1109/LCSYS.2019.2904397

M3 - Article

VL - 3

SP - 487

EP - 492

JO - IEEE Control Systems Letters

T2 - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

SN - 2475-1456

IS - 3

ER -

ID: 52737694