Further evaluation of the RMMAC method with time-varying parameters

Author

Rosa, P. ; Athans, M. ; Fekri, S. ; Silvestre, C.

Author_Institution

Inst. Super. Tecnico, Lisbon

fYear

2007

fDate

27-29 June 2007

Firstpage

1

Lastpage

6

Abstract

We demonstrate, using Monte-Carlo simulations, the superior performance of the "Robust Multiple- Model Adaptive Control (RMMAC)" method for different time-varying uncertain parameter waveforms, performance bandwidths and constant disturbance intensities using the test example designed and studied in Refs. [1] and [2]. We further show that the RMMAC RMS performance is just about 10-16% worse than that obtained from a system that has perfect model identification (which is unrealizable), while remaining vastly superior to the performance associated with the best robust non-adaptive design.

Keywords

Monte Carlo methods; adaptive control; robust control; time-varying systems; uncertain systems; Monte-Carlo simulation; perfect model identification; robust multiple-model adaptive control method; robust nonadaptive design; time-varying uncertain parameter waveform; Adaptive control; Bandwidth; Covariance matrix; Instruments; Robots; Robust control; Springs; Testing; Time varying systems; White noise; Robust adaptive control; multiple-model adaptive control; time-varying parameters;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation, 2007. MED '07. Mediterranean Conference on

Conference_Location

Athens

Print_ISBN

978-1-4244-1281-5

Electronic_ISBN

978-1-4244-1282-2

Type

conf

DOI

10.1109/MED.2007.4433826

Filename

4433826