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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 At Proceedings of the 1997 IEEE Conference on Decision and Control. , pp. 3046-3051.

Record type: Conference or Workshop Item (Other)

Abstract

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.

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More information

Published date: 1997
Additional Information: Organisation: IEEE Address: San Diego, CA
Venue - Dates: Proceedings of the 1997 IEEE Conference on Decision and Control, 1997-01-01
Organisations: Southampton Wireless Group

Identifiers

Local EPrints ID: 250018
URI: http://eprints.soton.ac.uk/id/eprint/250018
PURE UUID: f32b6066-c86b-40e7-b12e-218d87c7cd1f

Catalogue record

Date deposited: 25 Aug 1999
Last modified: 18 Jul 2017 10:44

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Contributors

Author: M. French
Author: Cs. Szepesvari
Author: E. Rogers

University divisions

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