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Kharisov, Evgeny; Hovakimyan, Naira; Åström, Karl J.

Comparison of architectures and robustness of model reference adaptive controllers and  adaptive controllers

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  • Medientyp: E-Artikel
  • Titel: Comparison of architectures and robustness of model reference adaptive controllers and  adaptive controllers
  • Beteiligte: Kharisov, Evgeny; Hovakimyan, Naira; Åström, Karl J.
  • Erschienen: Wiley, 2014
  • Erschienen in: International Journal of Adaptive Control and Signal Processing
  • Sprache: Englisch
  • DOI: 10.1002/acs.2419
  • ISSN: 0890-6327; 1099-1115
  • Schlagwörter: Electrical and Electronic Engineering ; Signal Processing ; Control and Systems Engineering
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  • Beschreibung: <jats:title>SUMMARY</jats:title><jats:p>The paper compares direct and indirect model reference adaptive controllers (MRAC) with the <jats:inline-graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="graphic/acs2419-math-0004.png" xlink:title="urn:x-wiley:08906327:media:acs2419:acs2419-math-0004" /> adaptive controller. The architectures of the closed‐loop systems are first compared in a simple setting that clarifies the similarities and differences of the controllers. The indirect MRAC and the <jats:inline-graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="graphic/acs2419-math-0005.png" xlink:title="urn:x-wiley:08906327:media:acs2419:acs2419-math-0005" /> controller have identical state predictors, but they differ in the computation of the control signal, which in <jats:inline-graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="graphic/acs2419-math-0006.png" xlink:title="urn:x-wiley:08906327:media:acs2419:acs2419-math-0006" /> is carried out by solving a feedback loop. The special case, where the controllers only adapt to a parameter representing input disturbances, is discussed. In this case, the closed‐loop system is linear, so it may not be appropriate to call the controllers adaptive. The special case does, however, give good insight into similarities and differences of the controllers and the effects of various modifications. In particular, the analysis gives good understanding of the robustness properties.Copyright © 2013 John Wiley &amp; Sons, Ltd.</jats:p>