Title :
Modified output error method with parameter mismatch compensation for improved performance model reference adaptive control
Author :
Papadakis, Ioannis N.M. ; Thomopoulos, Stelios C A
Author_Institution :
Dept. of Electr. & Comput. Eng., Pennsylvania State Univ., University Park, PA, USA
Abstract :
A method for model reference adaptive control (MRAC) with improved transient performance is introduced. It is shown that with this method the zero-state output error can be made arbitrarily small. For the linear system case, the value of the high frequency gain, kp, of the plant does not have to be known a priori, i.e., some uncertainty on kp is allowed. The structure of the proposed controller allows for existing convergence results such as exponential convergence of output and parameter errors in the presence of sufficiently rich reference inputs to remain valid. It is also shown that the proposed controller demonstrates improved robustness in the presence of bounded disturbances and/or modeled dynamics, as well as in the case in which adaptation is switched off
Keywords :
compensation; convergence; linear systems; model reference adaptive control systems; stability; bounded disturbances; exponential convergence; high frequency gain; linear system; model reference adaptive control; modeled dynamics; modified output error method; parameter mismatch compensation; robustness; transient performance; uncertainty; zero-state output error; Adaptive control; Computer errors; Control system synthesis; Convergence; Error correction; Frequency; Laboratories; Linear systems; Programmable control; Robust control; Uncertain systems; Uncertainty;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371228