Title :
A new finite-time convergent and robust direct model reference adaptive control for SISO linear time invariant systems
Author :
Guzman, Eder ; Moreno, Jaime A.
Author_Institution :
Inst. de Ing., Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
Abstract :
The objective of this paper is to propose a new Direct MRAC (Model Reference Adaptive Control), having finite-time convergence of the tracking error and the parameter estimation algorithm under appropriate Persistence of Excitation Conditions. Moreover, enhanced robustness properties are also achieved. This is obtained by adding some strong, i.e. non locally Lipschitz or discontinuous, nonlinearities to the controller and parameter estimation algorithm of the classical MRAC. A Lyapunov-based approach is used to prove these properties. Some simulations illustrate how the proposed algorithm provides the MRAC with a much faster convergence of the tracking and parameter errors. Moreover, the improved convergence is obtained with less control action and with enhanced robustness properties of the control loop.
Keywords :
Lyapunov methods; adaptive control; linear systems; parameter estimation; robust control; Lyapunov-based approach; MRAC; SISO linear time invariant systems; excitation conditions; finite-time convergence; finite-time convergent; parameter estimation algorithm; robust direct model reference adaptive control; Adaptation models; Adaptive control; Convergence; Mathematical model; Parameter estimation; Polynomials; Robustness;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6161321