Comparative analysis of a traditional and a novel approach to model reference adaptive control

J. Tar, János F. Bitó, I. Rudas, Kristóf Eredics, José A. Tenreiro Machado

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In this paper the operation of a recently introduced novel version of the popular "Model Reference Adaptive Controller (MRAC)" is compared with that of a simple version of its possible traditional implementations. The "traditional implementations" normally use Lyapunov's 2nd ("direct") method for adaptive tuning of the controllers' parameters. This method yields global asymptotic stability but its application technically is difficult. In the current control papers pages are occupied with sophisticated estimations to guarantee the non-positive time-derivative of the Lyapunov function. The here proposed novel approach avoids the use of any Lyapunov function, it works with simple iterations that yield Cauchy sequences that converge to the solution of the control problem. Its advantages are its simplicity and precision, its weak side is the local basin of attraction of the convergence applied. However, simulations testify that for practical applications satisfactory "width" can be obtained for the region of convergence. In this paper a 3 Degree Of Freedom (DOF) paradigm, the cart+beam+hamper system is used in numerical simulations to demonstrate the advantages of the novel approach in comparison with a traditional MRAC controller. It is worth noting that the novel method can be completed with additional tuning for guaranteeing its convergence.

Original languageEnglish
Title of host publication11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Proceedings
Pages93-98
Number of pages6
DOIs
Publication statusPublished - 2010
Event11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Budapest, Hungary
Duration: Nov 18 2010Nov 20 2010

Other

Other11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010
CountryHungary
CityBudapest
Period11/18/1011/20/10

Fingerprint

Model reference adaptive control
Controllers
Lyapunov functions
Tuning
Electric current control
Asymptotic stability
Derivatives
Computer simulation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Tar, J., Bitó, J. F., Rudas, I., Eredics, K., & Tenreiro Machado, J. A. (2010). Comparative analysis of a traditional and a novel approach to model reference adaptive control. In 11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Proceedings (pp. 93-98). [5672268] https://doi.org/10.1109/CINTI.2010.5672268

Comparative analysis of a traditional and a novel approach to model reference adaptive control. / Tar, J.; Bitó, János F.; Rudas, I.; Eredics, Kristóf; Tenreiro Machado, José A.

11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Proceedings. 2010. p. 93-98 5672268.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Bitó, JF, Rudas, I, Eredics, K & Tenreiro Machado, JA 2010, Comparative analysis of a traditional and a novel approach to model reference adaptive control. in 11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Proceedings., 5672268, pp. 93-98, 11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010, Budapest, Hungary, 11/18/10. https://doi.org/10.1109/CINTI.2010.5672268
Tar J, Bitó JF, Rudas I, Eredics K, Tenreiro Machado JA. Comparative analysis of a traditional and a novel approach to model reference adaptive control. In 11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Proceedings. 2010. p. 93-98. 5672268 https://doi.org/10.1109/CINTI.2010.5672268
Tar, J. ; Bitó, János F. ; Rudas, I. ; Eredics, Kristóf ; Tenreiro Machado, José A. / Comparative analysis of a traditional and a novel approach to model reference adaptive control. 11th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2010 - Proceedings. 2010. pp. 93-98
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