Simulation investigations on a novel approach to model reference adaptive controllers

J. Tar, I. Rudas, J. F. Bitó, K. R. Kozlłowski, C. Pozna

Research output: Contribution to journalArticle

Abstract

The development of "Model Reference Adaptive Controllers (MRAC)" is a popular approach from the early nineties to our days. Their main point is the application of proper feedback in an internal loop that makes the behavior of the so manipulated system identical to that of the "reference model" that normally is simple enough to be controlled by an external loop. It has many particular variants with the common feature that they normally are designed by the use of Lyapunov's 2nd ("direct") method with a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper the operation of an alternative solution using "Robust Fixed Point Transformations (RFPT)" in the design phase is investigated via simulations for a 3 degree of freedom system. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model within a local basin of convergence. The stability of this controller is be proved by Lyapunov's direct method.

Original languageEnglish
Pages (from-to)51-60
Number of pages10
JournalInternational Journal of Mechanics and Control
Volume12
Issue number1
Publication statusPublished - 2011

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Controllers
Lyapunov functions
Asymptotic stability
Tuning
Feedback

Keywords

  • Lyapunov's direct method
  • Model reference adaptive control
  • Robust fixed point transformations

ASJC Scopus subject areas

  • Computational Mechanics
  • Control and Systems Engineering

Cite this

Simulation investigations on a novel approach to model reference adaptive controllers. / Tar, J.; Rudas, I.; Bitó, J. F.; Kozlłowski, K. R.; Pozna, C.

In: International Journal of Mechanics and Control, Vol. 12, No. 1, 2011, p. 51-60.

Research output: Contribution to journalArticle

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