A Set-Theoretic Model Reference Adaptive Control Architecture with Partially Adjustable Strict Performance Guarantees: A Command Governor Approach

Abstract

A new set-theoretic model reference adaptive control architecture is reported with partially adjustable strict performance guarantees on a subset of the system error vector. The proposed framework involves a two-level constructive design framework. First, we introduce an auxiliary state dynamics and develop the auxiliary system error vector between the states of an uncertain dynamical system and the states of this auxiliary dynamics. This allows a control designer to independently weight each auxiliary system error vector element while enforcing strict performance guarantees on the norm of this auxiliary system error vector. Next, we utilize a command governor mechanism. This mechanism drives a feasible user-selected system subset states to a close and user-controllable neighborhood of their equivalent reference model subset states in order to achieve easily adjustable strict performance guarantees on partial system errors. A numerical example complements the presented architecture.

Meeting Name

2018 Annual American Control Conference, AAC (2018: Jun. 27-29, Milwaukee, WI)

Department(s)

Mechanical and Aerospace Engineering

Comments

This research was supported in part by the National Aeronautics and Space Administration under Grant NNX15AM51A.

International Standard Book Number (ISBN)

978-1-5386-5428-6

International Standard Serial Number (ISSN)

2378-5861

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2018 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jun 2018

Link to Full Text

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