GENERAL ROBUST ADAPTIVE LAW FOR TUNING CONTROLLERS.
Date
1986Publisher
IEEESource
Proceedings of the IEEE Conference on Decision and ControlProceedings of the 25th IEEE Conference on Decision & Control.
Pages
474-476Google Scholar check
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A general robust adaptive law is developed which can stably tune model-reference and pole-placement control schemes despite the presence of unmodeled dynamics and bounded disturbances. The analysis shows that a switching- sigma modification requires less a priori information about the plant and therefore is easier to implement. Furthermore, in contrast to the dead-zone, fixed- sigma , and epsilon //1 -modifications, the switching- sigma approach guarantees robustness without destroying the ideal properties of the adaptive control schemes.