A Family of Adaptive H_∞ Controllers with Full Information for Dissipative Hamiltonian Systems

This paper investigates a parameterization method of adaptive H controllers for dissipative Hamiltonian systems with disturbances and unknown parameters. The family of adaptive H controllers with full information is obtained by interconnecting an adaptive H controller with a generalized zero-energy-gradient (ZEG) detectable, free generalized Hamiltonian system. The present parameterization method avoids solving Hamilton-Jacobi-Issacs equations and thus the controllers obtained are easier in operation as compared to some existing ones. Simulations show the effectiveness and feasibility of the adaptive control strategy proposed in this paper.