Uncertainty, Performance, and Model Dependency in Approximate Adaptive Nonlinear Control

French, M., Szepesvari, Cs. and Rogers, E. (1997) Uncertainty, Performance, and Model Dependency in Approximate Adaptive Nonlinear Control. Proceedings of the 1997 IEEE Conference on Decision and Control IEEE, 3046-3051.


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We first consider systems satisfying a matching condition which are functionally known up to a L2 measure of uncertainty. A modified L2 measure of transient performance is given, and the performance of a class of model based adaptive controllers is studied. An upper performance bound is derived in terms of the uncertainty measure. The gain of the adaption mechanism is then fixed. Asymptotic analyses of the bounds under increasing model resolution are undertaken, and a sufficient condition on the Gram matrix of the bases of the models is given that ensures that the performance bounds are asymptotically independant of the `size' of the model. Corresponding results can also be obtained for strict feedback systems, and this is briefly sketched, and some further developments are noted.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: Organisation: IEEE Address: San Diego, CA
Divisions : Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Southampton Wireless Group
ePrint ID: 250018
Accepted Date and Publication Date:
Date Deposited: 25 Aug 1999
Last Modified: 31 Mar 2016 13:50
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/250018

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