Adaptive Tracking Control via the Extremum-seeking Method

Authors:	Yu Hai, The Ohio State Unviersity, United States Ozguner Umit, The Ohio State Unviersity, United States
Topic:	1.2 Adaptive and Learning Systems
Session:	Adaptive and Learning Approaches to Controller Design
Keywords:	Extremum-seeking control, adaptive tracking, vehicle following control

Abstract

This paper proposes an adaptive tracking controlstrategy using an Extremum-seeking method. ForSISO systems with relative degree one, the sys-tem output tracks a reference signal asymptoti-cally while the control input adaptively reaches themagnitude to guarantee convergence. The track-ing process is robust to disturbances and uncer-tainties with continuous control input. It is simplein structure and is easy to design and tune. Theproposed method shows better performance thanclassical sliding mode control. Proof of the sta-bility condition is given. As an example, the pro-posed method is used to design an adaptive vehiclefollowing control to test it in a problem with highuncertainty.