抄録
This paper proposes an adaptive control scheme for unknown nonlinear systems. Approximating plant dynamics around a suitably chosen point (named operating point) by a finite power series model with unknown coefficients, an adaptive algorithm is derived, which contains estimation of parameters, determinations of control inputs, and change of operating points.
The latter is performed when the plant behavior is apart from a current operating point. Since this causes parameter jumps in the model, new parameters must be estimated again, the initial values of which are predicted from the old. These procedures are termed “reset”.
Conditions for the stability of the algorithm is investigated, and effect of “reset” is discussed. Simulation results show the effectivenss of the proposed algorithm.
