DocumentCode :
2290447
Title :
A two-input two-output robust multiple model adaptive control (RMMAC) case study
Author :
Fekri, Sajjad ; Athans, Michael ; Pascoal, Antonio
Author_Institution :
Inst. for Syst. & Robotics, Instituto Superior Tecnico, Lisbon
fYear :
2006
fDate :
14-16 June 2006
Abstract :
We use the RMMAC architecture and design methodology, introduced in the work of M. Athans et al. (2005) and S. Fekri et al. (2004), to design and evaluate a truly multivariable adaptive control system; this fills a void that is present in the literature. A three-cart problem with two uncertain parameters, two controls, and two outputs is used as the case study. We show that the RMMAC significantly improves disturbance-rejection compared with the "best" non-adaptive controller designed by mixed-mu synthesis. In the example considered, in addition to two uncertainties in mass and spring constants, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements. Numerous simulation results are presented that demonstrate the superior performance of the RMMAC
Keywords :
MIMO systems; control system synthesis; model reference adaptive control systems; multivariable control systems; robust control; uncertain systems; RMMAC architecture; disturbance rejection; mass constants; mixed-mu synthesis; multivariable adaptive control system; noisy sensor measurements; spring constants; stochastic disturbance inputs; three-cart problem; two-input two-output robust multiple model adaptive control; uncertain parameters; unmodeled dynamics; Adaptive control; Computer aided software engineering; Control system synthesis; Control systems; Design methodology; Robust control; Robust stability; Robustness; Springs; Stochastic processes;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
Type :
conf
DOI :
10.1109/ACC.2006.1657239
Filename :
1657239
Link To Document :
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