相关论文: Improvement of plant performance using Closed loop…

This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…

Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…

Closed-loop reference models have recently been proposed for states accessible adaptive systems. They have been shown to have improved transient response over their open loop counter parts. The results in the states accessible case are…

We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…

This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…

It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…

Networked control strategies based on limited information about the plant model usually results in worse closed-loop performance than optimal centralized control with full plant model information. Recently, this fact has been established by…

One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…

This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…

Model-reference adaptive systems refer to a consortium of techniques that guide plants to track desired reference trajectories. Approaches based on theories like Lyapunov, sliding surfaces, and backstepping are typically employed to advise…

This study presents a synchronisation-oriented perspective towards adaptive control which views model-referenced adaptation as synchronisation between actual and virtual dynamic systems. In the context of adaptation, model reference…

This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…

An optimization-based method for improving the productivity of precision machine tools is proposed, where the reference path is computed in local coordinates, and information about the machine tool performance is learned from experimental…

In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…

This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to deal with plant…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…

This paper presents an analysis of the modified L1 adaptive control law. The performance of this control law is compared to the original control law. The modified L1 control law uses the DC gain of the transfer function of the closed loop…