Experimental validation of a continuous-time MCSI algorithm with bounded adaptive gains
Visualitza/Obre
10.1016/j.jfranklin.2019.03.012
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/171825
Tipus de documentArticle
Data publicació2019-08-01
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Model reference adaptive control algorithms with minimal controller synthesis have proven to be an effective solution to tame the behaviour of linear systems subject to unknown or time-varying parameters, unmodelled dynamics and disturbances. However, a major drawback of the technique is that the adaptive control gains might exhibit an unbounded behaviour when facing bounded disturbances. Recently, a minimal controller synthesis algorithm with an integral part and either parameter projection or s-modification strategies was proposed to guarantee boundedness of the adaptive gains. In this article, these controllers are experimentally validated for the first time by using an electro-mechanical system subject to significant rapidly varying disturbances and parametric uncertainty. Experimental results confirm the effectiveness of the modified minimal controller synthesis methods to keep the adaptive control gains bounded while providing, at the same time, tracking performances similar to that of the original algorithm
CitacióMontanaro, U. [et al.]. Experimental validation of a continuous-time MCSI algorithm with bounded adaptive gains. "Journal of the Franklin Institute", 1 Agost 2019, vol. 356, núm. 12, p. 5881-5897.
ISSN0016-0032
Versió de l'editorhttps://www.sciencedirect.com/science/article/abs/pii/S0016003219302492
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
DRAC_UPC.pdf | 17,34Mb | Visualitza/Obre |