An LMI-Based Hedging Approach to Model Reference Adaptive Control with Actuator Dynamics
Abstract
Although model reference adaptive control has been used in numerous applications to achieve system performance without excessive reliance on dynamical system models, the presence of actuator dynamics can seriously limit the stability and the achievable performance of adaptive controllers. In this paper, an linear matrix inequalities-based hedging approach is developed and evaluated for model reference adaptive control of uncertain dynamical systems in the presence of actuator dynamics. The hedging method modifies the ideal reference model dynamics in order to allow correct adaptation that does not get affected due to the presence of actuator dynamics. Specifically, we first generalize the hedging approach to cover cases in which actuator output and is known and unknown. We next show the stability of the closed-loop dynamical system using tools from Lyapunov stability and linear matrix inequalities. Finally, an illustrative numerical example is provided to demonstrate the efficacy of the proposed linear matrix-inequalities-based hedging approach to model reference adaptive control.
Recommended Citation
B. C. Gruenwald et al., "An LMI-Based Hedging Approach to Model Reference Adaptive Control with Actuator Dynamics," ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 1, American Society of Mechanical Engineers, Jan 2015.
The definitive version is available at https://doi.org/10.1115/DSCC2015-9894
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-079185724-3
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 American Society of Mechanical Engineers, All rights reserved.
Publication Date
01 Jan 2015
