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- W2914726087 abstract "In this paper, an adaptive control architecture is proposed for uncertain dynamical systems subject to interconnected actuated and unactuated dynamics with performance guarantees enforced on both dynamics. Specifically, the control and performance enforcement of the unactuated dynamics is accomplished through the physical interconnection with the actuated dynamics, where the proposed control is applied to stabilize the overall interconnected system in the presence of unknown physical interconnections as well as uncertainties in both the actuated and unactuated dynamics. The performance guarantees are enforced using a set-theoretic model reference adaptive control approach such that the respective system error trajectories of the actuated and unactuated dynamics are restricted to stay inside user-defined compact sets. We then use linear matrix inequality to verify stability of suitable control parameters as well as the allowable system uncertainties and unknown physical interconnections." @default.
- W2914726087 created "2019-02-21" @default.
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- W2914726087 date "2018-12-01" @default.
- W2914726087 modified "2023-09-26" @default.
- W2914726087 title "On Adaptive Control of Unactuated Dynamical Systems through Interconnections with Stability and Performance Guarantees" @default.
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- W2914726087 doi "https://doi.org/10.1109/cdc.2018.8619523" @default.
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