"Set-Theoretic Model Reference Adaptive Control with Time-Varying Perfo" by Ehsan Arabi and Tansel Yucelen
 

Set-Theoretic Model Reference Adaptive Control with Time-Varying Performance Bounds

Abstract

One of the fundamental problems in model reference adaptive control design is the ability of the controlled system to achieve not only stability but also a user-defined performance in the presence of exogenous disturbances and system uncertainties. To this end, we recently proposed a set-theoretic model reference adaptive control framework, which guarantees the norm of the system error to be less than a user-defined constant performance bound. The contribution of this paper is to generalise the set-theoretic model reference adaptive control framework for enforcing user-defined time-varying performance bounds on the system error, which gives the control designer a flexibility to control the closed-loop system performance as desired on different time intervals (e.g. transient time interval and steady-state time interval). Two adaptive command following control architectures are proposed and their stability and performance properties are rigorously established using system-theoretic methods.

Department(s)

Mechanical and Aerospace Engineering

Comments

National Aeronautics and Space Administration, Grant NNX15AM51A

Keywords and Phrases

command following; generalised restricted potential functions (generalised barrier Lyapunov functions); model reference adaptive control; time-varying performance bounds; Uncertain dynamical systems

International Standard Serial Number (ISSN)

1366-5820; 0020-7179

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 Taylor and Francis Group; Taylor and Francis, All rights reserved.

Publication Date

01 Jan 2019

Link to Full Text

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