Improving transient performance of discrete‐time model reference adaptive control architectures

Summary Discrete‐time adaptive control algorithms can be executed directly in embedded code unlike their continuous‐time counterparts, which require discretization. However, their designs predicated on quadratic Lyapunov‐based frameworks are quite intricate due to the resulting complexity in the Lya...

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Veröffentlicht in:International journal of adaptive control and signal processing Jg. 34; H. 7; S. 901 - 918
Hauptverfasser: Dogan, K. Merve, Yucelen, Tansel, Haddad, Wassim M., Muse, Jonathan A.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bognor Regis Wiley Subscription Services, Inc 01.07.2020
Schlagworte:
Adaptive algorithms
Architecture
Control algorithms
Control stability
discrete‐time uncertain dynamical systems
Dynamical systems
Liapunov functions
Model reference adaptive control
stability analysis
Transient performance
transient performance improvement
Transient response
ISSN:0890-6327, 1099-1115
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Zusammenfassung:Summary Discrete‐time adaptive control algorithms can be executed directly in embedded code unlike their continuous‐time counterparts, which require discretization. However, their designs predicated on quadratic Lyapunov‐based frameworks are quite intricate due to the resulting complexity in the Lyapunov difference expressions. Therefore, a wide array of available continuous‐time results addressing transient performance issues using adaptive control algorithms cannot be applied or readily extended to the discrete‐time case. In this article, we present a new model reference adaptive control architecture for discrete‐time uncertain dynamical systems. Specifically, the proposed architecture consists of a command governor mechanism that adjusts the trajectory of a given command during the closed‐loop transient response. It is shown that this mechanism is effective in improving transient performance of discrete‐time model reference adaptive control architectures. Using a logarithmic Lyapunov function, we prove Lyapunov stability of the closed‐loop system as well as asymptotic convergence of the system error states involving the difference between the states of the uncertain dynamical system and the states of the reference model, as well as driving the command governor signal to zero.
Bibliographie:Funding information
Air Force Office of Scientific Research, FA9550‐20‐1‐0038; Air Force Research Laboratory Aerospace Systems Directorate under the Universal Technology Corporation, 17‐S8401‐02‐C1 and 162642‐20‐25‐C1
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ISSN:0890-6327
1099-1115
DOI:10.1002/acs.3114