✦ LIBER ✦

Nominal optimal controller with enhanced performance via adaptive-Q feedback

✍ Scribed by L. Giarré

Publisher: John Wiley and Sons
Year: 1996
Tongue: English
Weight: 610 KB
Volume: 10
Category: Article
ISSN: 0890-6327
DOI: 10.1002/(sici)1099-1115(199611)10:6<635::aid-acs403>3.0.co;2-q

No coin nor oath required. For personal study only.

✦ Synopsis

A self-tuning of the Q-parameterization transfer matrix is presented in order to combine off-line nominal optimal control with on-line adaptation. A direct predictive adaptive algorithm is used in a 2DOF version to cope also with tracking problems. The algorithm is derived by solving a suitably receding horizon problem and a local convergence analysis is camed out. Simulations for both regulation and tracking problems are presented.