Abstract
This chapter is devoted to the design of adaptive controllers for dynamical systems that operate in the presence of parametric uncertainties and bounded noise. Four MRAC design modifications for robustness are discussed: (1) the dead zone, (2) the \( \sigma \)-modification, (3) the \( e \)-modification, and (4) the Projection Operator. We argue that out of the four modifications, the dead zone and the Projection Operator are essential for any MRAC system designed to predictably operate in a realistic environment.
An erratum to this chapter can be found at http://dx.doi.org/10.1007/978-1-4471-4396-3_15
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Khalil, H.: Nonlinear Systems, 3rd edn, p. 07458. Prentice Hall, Upper Saddle River (1996)
Peterson, B.B., Narendra, K.S.: Bounded error adaptive control. IEEE Trans. Automat. Contr. 27, 1161–1168 (1982)
Slotine, J.J.E., Li, W.: Applied Nonlinear Control. Prentice Hall, New Jersey (1995)
Slotine, J.J.E., Coetsee, J.A.: Adaptive sliding controller synthesis for nonlinear systems. Int. J. Contr. (1986)
Ioannou, P., Kokotovic, P.: Adaptive Systems with Reduced Models. Springer, New York (1983)
Narendra, K.S., Annaswamy, A.M.: A new adaptive law for robust adaptive control without persistency of excitation. IEEE Trans.Automat Contr. 32, 134–145, Feb. (1987)
Pomet, J.B., Praly, L.: Adaptive nonlinear regulation: Estimation from the Lyapunov equation. IEEE Trans. Automat. Contr. 37, 729–740 (1992)
Ioannou, P., Fidan, P.: Adaptive Control Tutorial, SIAM, Advances in Design and Control, SIAM, PA (2006)
Kreisselmeier, G., Narendra, K.S.: Stable model reference adaptive control in the presence of bounded disturbances. IEEE Trans. Automat. Contr. 27, 1169–1175 (1982)
Khalil, H.K.: Adaptive output feedback control of nonlinear systems represented by input – output models. IEEE Trans. Automat. Contr. 41, 177–188 (1996)
McRuer, D., Ashkenas, I., Graham, D: Aircraft dynamics and automatic control, Princeton University Press, Princeton, New Jersey (1990)
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this chapter
Cite this chapter
Lavretsky, E., Wise, K.A. (2013). Robust Adaptive Control. In: Robust and Adaptive Control. Advanced Textbooks in Control and Signal Processing. Springer, London. https://doi.org/10.1007/978-1-4471-4396-3_11
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4396-3_11
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4395-6
Online ISBN: 978-1-4471-4396-3
eBook Packages: EngineeringEngineering (R0)