On the asymptotic property analysis for a class of adaptive control systems with σ-modification

摘要

With the effect of σ-modification in adaptive control systems, robustness is achieved at the potential expense of destroying some of the convergence properties. This paper proposes a qualitative analysis method for the situations where the σ-modification may lead to perfect tracking and also, given the prior knowledge of system parameters, may allow proper modification of the adaptive algorithm. The applicability of the proposed analysis method is illustrated by two examples, where the system control gains that lead to global asymptotic convergence are given explicitly. Further, simulations are performed to verify the qualitative analysis results.