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

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

4152

Lastpage

4157

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426214

Filename

6426214