DocumentCode :
3279262
Title :
MRAC Revisited: Guaranteed performance with reference model modification
Author :
Stepanyan, V. ; Krishnakumar, K.
Author_Institution :
Mission Critical Technol. Inc., NASA Ames Res. Center, Moffett Field, CA, USA
fYear :
2010
fDate :
June 30 2010-July 2 2010
Firstpage :
93
Lastpage :
98
Abstract :
This paper presents modification of the conventional model reference adaptive control (MRAC) architecture in order to achieve guaranteed transient performance both in the output and input signals of an uncertain system. The proposed modification is based on the tracking error feedback to the reference model. It is shown that approach guarantees tracking of a given command and the ideal control signal (one that would be designed if the system were known) not only asymptotically but also in transient by a proper selection of the error feedback gain. The method prevents generation of high frequency oscillations that are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference command of any magnitude form any initial position without re-tuning. The benefits of the method are demonstrated in simulations.
Keywords :
feedback; model reference adaptive control systems; uncertain systems; MRAC architecture; error feedback gain; guaranteed transient performance; high frequency oscillations; ideal control signal; model reference adaptive control architecture; uncertain system; Adaptive control; Control systems; Error correction; Feedback; Frequency; Guidelines; Low pass filters; NASA; Programmable control; Signal generators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
ISSN :
0743-1619
Print_ISBN :
978-1-4244-7426-4
Type :
conf
DOI :
10.1109/ACC.2010.5530648
Filename :
5530648
Link To Document :
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