Model Reference Adaptive Control in the Presence of High-Order Actuator Dynamics

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Model Reference Adaptive Control in the Presence of High-Order Actuator Dynamics

Popis výsledku v původním jazyce

We recently proposed a linear matrix inequalitiesbased hedging approach to compute stability limits of adaptive controllers in the presence of first-order actuator dynamics. Specifically, our approach modifies the ideal reference model dynamics using the hedging method to allow correct adaptation, which is not affected by the presence of actuator dynamics, and then analyzes the stability of this modified reference model coupled with the first-order actuator dynamics using linear matrix inequalities — for computing the fundamental stability interplay between the bandwidth of actuator dynamics and the allowable system uncertainties. This paper generalizes this framework to high-order (linear time-invariant) actuator dynamics and discuss the distance between the uncertain dynamical system and the ideal (i.e., unmodified) reference model dynamics. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach in computing stability limits of adaptive controllers.

Název v anglickém jazyce

Model Reference Adaptive Control in the Presence of High-Order Actuator Dynamics

Popis výsledku anglicky

We recently proposed a linear matrix inequalitiesbased hedging approach to compute stability limits of adaptive controllers in the presence of first-order actuator dynamics. Specifically, our approach modifies the ideal reference model dynamics using the hedging method to allow correct adaptation, which is not affected by the presence of actuator dynamics, and then analyzes the stability of this modified reference model coupled with the first-order actuator dynamics using linear matrix inequalities — for computing the fundamental stability interplay between the bandwidth of actuator dynamics and the allowable system uncertainties. This paper generalizes this framework to high-order (linear time-invariant) actuator dynamics and discuss the distance between the uncertain dynamical system and the ideal (i.e., unmodified) reference model dynamics. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach in computing stability limits of adaptive controllers.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20205 - Automation and control systems

Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the IEEE 55th Conference on Decision and Control (CDC)

ISBN

978-1-5090-1837-6

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

3807-3812

Název nakladatele

IEEE

Místo vydání

Piscataway, NJ

Místo konání akce

Las Vegas

Datum konání akce

12. 12. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000400048104001