ADAPTIVE TRACKING CONTROL VIA EXTREMUM-SEEKING METHOD

摘要

In this paper, an adaptive tracking controller is proposed using Extremum-seeking strategy. For unknown disturbances satisfying matching condi- tion, the controller can adaptively seek for a proper magnitude level large enough for disturbance rejection without excessive control e?orts. The proposed control strategy is robust to disturbances and uncertainties and is continuous in nature. As a result, there will be no chattering phenomenon and control energy will be largely saved comparing with a classic sliding mode output tracking controller. As an example, the proposed control strategy is applied to an adaptive vehicle following control to test it in a problem with high uncertainties.