Composite model-reference adaptive control with least-squares estimator
IFAC PAPERSONLINE(2023)
摘要
This work presents a new design of a composite model-reference adaptive control (MRAC) with a least-squares parameter estimator. The objective of the design is to preserve the remarkable transient adaptation characteristic obtained by a modified MRAC algorithm recently introduced and, at the same time, enjoy the superior parameter convergence performance of a least-squares estimator. The algorithm employs two different estimators for the same controller parameter, one updated by a gradient law driven by the tracking error and the other updated by a least-squares algorithm driven by a prediction error. In this way, the performance of each one is kept unchanged. The existence of a Lyapunov function assures the global uniform stability of the proposed composite adaptive scheme and simulation results confirm and illustrate its properties.Copyright (c) 2023 The Authors.
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关键词
Adaptive control,composite model-reference adaptive control,stability,transient performance,least-squares adaptive law
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