Robust fixed point transformations in adaptive control using local basin of attraction

摘要

A further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. This approach obviates the use of the complicated Lyapunov function technique that normally provides global stability of convergence at the costs of both formal and essential restrictions, by applying Cauchy sequences of local, bounded basin of attraction in an iterative control that is free of such restrictions. Its main point is the creation of a robust iterative sequence that only slightly depends on the features of the controlled system and mainly is determined be the control parameters applied. It is shown that as far as its operation is considered the proposed method can be located between the robust Variable Structure / Sliding Mode and the adaptive Slotine-Li control in the case of robots or other Classical Mechanical Systems. The operation of these method is comparatively analyzed for a wheel + connected mass system in which this latter component is “stabilized” along one of the spokes of the wheel in the radial direction by an elastic spring. The robustness of these methods is also investigated againts unknown external disturbances of quite significant amplitudes. The numerical simulations substantiate the superiority of the robust fixed point transformations in the terms of accuracy, simplicity, and smoothness of the control signals applied.