Derivative-Free Model Reference Adaptive Control

  title={Derivative-Free Model Reference Adaptive Control},
  author={Tansel Yucelen and Anthony J. Calise},
A derivative-free, delayed weight update law is developed for model reference adaptive control of continuous-time uncertain dynamical systems, without assuming the existence of constant ideal weights. Using a Lyapunov-Krasovskii functional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modification terms in the adaptive law. Estimates for the ultimate bound and the exponential rate of convergence to the ultimate bound are provided. We also discuss… CONTINUE READING
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