Computing stability limits for adaptive control laws with high-order actuator dynamics

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00325160" target="_blank" >RIV/68407700:21230/19:00325160 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1016/j.automatica.2018.12.025" target="_blank" >https://doi.org/10.1016/j.automatica.2018.12.025</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.automatica.2018.12.025" target="_blank" >10.1016/j.automatica.2018.12.025</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Computing stability limits for adaptive control laws with high-order actuator dynamics

Popis výsledku v původním jazyce

A challenge in the design of adaptive control laws for uncertain dynamical systems is to achieve system stability and a prescribed level of command following performance in the presence of actuator dynamics. It is well-known that if the actuator dynamics do not have sufficiently high bandwidth, their presence cannot be practically neglected in the design since they limit the achievable stability of adaptive control laws. In this paper, we consider the design of model reference adaptive control laws for uncertain dynamical systems in the presence of high-order actuator dynamics. Specifically, a linear matrix inequalities-based hedging approach is proposed, where this approach modifies the ideal reference model dynamics to allow for correct adaptation that is not affected by the presence of actuator dynamics. The stability of the modified reference model is then computed using linear matrix inequalities, which reveals the fundamental stability interplay between the parameters of the actuator dynamics and the allowable system uncertainties. In addition, we analyze the convergence properties of the modified reference model to the ideal reference model. The presented theoretical results are finally illustrated through a numerical example.

Název v anglickém jazyce

Computing stability limits for adaptive control laws with high-order actuator dynamics

Popis výsledku anglicky

A challenge in the design of adaptive control laws for uncertain dynamical systems is to achieve system stability and a prescribed level of command following performance in the presence of actuator dynamics. It is well-known that if the actuator dynamics do not have sufficiently high bandwidth, their presence cannot be practically neglected in the design since they limit the achievable stability of adaptive control laws. In this paper, we consider the design of model reference adaptive control laws for uncertain dynamical systems in the presence of high-order actuator dynamics. Specifically, a linear matrix inequalities-based hedging approach is proposed, where this approach modifies the ideal reference model dynamics to allow for correct adaptation that is not affected by the presence of actuator dynamics. The stability of the modified reference model is then computed using linear matrix inequalities, which reveals the fundamental stability interplay between the parameters of the actuator dynamics and the allowable system uncertainties. In addition, we analyze the convergence properties of the modified reference model to the ideal reference model. The presented theoretical results are finally illustrated through a numerical example.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

Automatica

ISSN

0005-1098

e-ISSN

1873-2836

Svazek periodika

101

Číslo periodika v rámci svazku

March

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

8

Strana od-do

409-416

Kód UT WoS článku

000458941700045

EID výsledku v databázi Scopus

2-s2.0-85059816130