Title :
Certainty equivalence M-MRAC for systems with unmatched uncertainties
Author :
Stepanyan, V. ; Krishnakumar, K.
Author_Institution :
NASA Ames Res. Center, Mission Critical Technol. Inc., Moffett Field, CA, USA
Abstract :
The paper presents a certainty equivalence state feedback indirect adaptive control design method for the systems of any relative degree with unmatched uncertainties. The approach is based on the parameter identification (estimation) model, which is completely separated from the control design and is capable of producing parameter estimates as fast as the computing power allows without generating high frequency oscillations. It is shown that the system´s input and output tracking errors can be systematically decreased by the proper choice of the design parameters.
Keywords :
adaptive control; control system synthesis; nonlinear control systems; parameter estimation; state feedback; certainty equivalence M-MRAC; control design; design parameter; high frequency oscillation; indirect adaptive control design; input tracking error; modified model reference adaptive control; nonlinear system; output tracking error; parameter estimation model; parameter identification model; relative degree; state feedback; Adaptation models; Adaptive control; Argon; Backstepping; Control design; Oscillators; Uncertainty;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426214
