On the robustness of adaptive controllers using relative deadzones

✍ Scribed by R.H. Middleton; G.C. Goodwin; Y. Wang

• Publisher: Elsevier Science
• Year: 1989
• Tongue: English
• Weight: 522 KB
• Volume: 25
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/0005-1098(89)90055-1

✦ Synopsis

The szze of the unmodelled dynamtcs allowed by a robust adaptive control algorithm ts examined, and shown to be of the same order as that allowed by a hnear controller Key Words--Self-tumng control, convergence and stability problems m adaptwe control, robust adaptive control Absltrstt--Recently sutIicaent con&laons have been presented for robust stabthty of adapttve control aigonthms The purpose of this paper is to further examine these condmons, and to study the question of robustness and performance for adaptive and non-adaptive controllers In partEcular, we compare an adaptive controller with a fixed hnear controller for a representative system including structured and unstructured modelling errors In the case of unstructured modeihng errors alone, we show that the theoretical sufficient condmons for signal boundedness of the adaptive controller are comparable with those for the fixed hnear controller designed to achieve eqmvalent performance When structured modelhng errors (1 e parametric uncertainties) are added, then simulation studies of a second-order system suggest that the adaptive controller achieves superior performance to the fixed hnear controller *