Variable structure model-reference adaptive control (VS-MRAC) using only input and output measurements. II

Author

Hsu, Liu

Author_Institution

COPPE Univ. Federal de Rio de Janeiro, Brazil

fYear

1988

fDate

7-9 Dec 1988

Firstpage

2396

Abstract

For pt.I. see Tech. Rep. RT-01/87, COPPE/UFRJ-EE (1987). A globally asymptotically stable VS-MRAC was proposed in part I for plants with relative degree one. A VS-MRAC for plants of arbitrary relative degree is presented here. The controller requires only input/output measurements and is free of differentiators. The VS-MRAC, for relative degree ⩾2, explicitly requires the equivalent controls associated with certain sliding modes. In the ideal case where these equivalent controls are perfectly measurable, global asymptotic stability of the closed-loop system and exponential convergence of the output error are demonstrated. Stability is preserved in the presence of bounded input disturbances, and asymptotic tracking is shown to be possible even in this case

Keywords

adaptive control; closed loop systems; model reference adaptive control systems; stability; variable structure systems; MRAC; closed-loop system; convergence; input/output measurements; relative degree; sliding modes; stability; variable structure model reference adaptive control; Adaptive control; Electric variables measurement; Filters; Nonlinear dynamical systems; Programmable control; Robustness; Sliding mode control; Steady-state; Transfer functions; Variable structure systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1988., Proceedings of the 27th IEEE Conference on

Conference_Location

Austin, TX

Type

conf

DOI

10.1109/CDC.1988.194770

Filename

194770