Model Reference Adaptive Control for Plants with Unknown Relative Degree
Date
1993Source
IEEE Transactions on Automatic ControlVolume
38Issue
6Pages
976-982Google Scholar check
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One of the basic assumptions in stable model reference adaptive control (MRAC) that the relative degree n002A of the modeled part of the plant is known exactly and matches that of the reference model is relaxed by the development of a new MRAC scheme which requires only an upper bound n002A for n002A. This is done at the expense of updating additional parameters and projecting some of the estimated parameters onto appropriate convex sets in the parameter space. These convex sets can be developed without using any a priori knowledge about the plant parameters. Furthermore, when a lower bound n002A in addition to an upper bound for n002A is known, the number of the estimated parameters can be reduced considerably. The new MRAC scheme guarantees signal boundedness and zero residual tracking error. In addition, it is robust with respect to plant uncertainties provided a modified adaptive law is used to update the controller parameters. © 1993 IEEE
DOI
10.1109/9.222314Collections
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