Robustness in variable structure and compound adaptive control by two new modified update laws

摘要

Are proposed two new modified update laws for variable structure and compound model reference adaptive control with k-sigmoid function. Only, the adaptive control of the platn model with relative degree one is presented. I ncompound adaptive control, both components of the contorl law have enclosed adaptive modifications in parameter update laws. These new adjustment laws assure robustness of the adaptive loop in the presence of external bounded disturbances and unmodeled dynamics. No, any prior information is needed about the norm of the controller parameters or the upper bound of the disturbances. The Lyapunov functions are used to proof global stability of the adaptive loops.