TY - GEN
T1 - Frequency-limited adaptive control architecture for transient response improvement
AU - Yucelen, Tansel
AU - De La Torre, Gerardo
AU - Johnson, Eric N.
PY - 2013
Y1 - 2013
N2 - This paper presents a new adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The proposed reference system captures a desired closed-loop dynamical system behavior modified by a mismatch term representing the high-frequency content between the uncertain dynamical system and this reference system, i.e., the system error. In particular, this mismatch term allows one to limit the frequency content of the system error dynamics, which is used to drive the adaptive controller. It is shown that this key feature of our framework yields fast adaptation without incurring high-frequency oscillations in the transient performance.
AB - This paper presents a new adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The proposed reference system captures a desired closed-loop dynamical system behavior modified by a mismatch term representing the high-frequency content between the uncertain dynamical system and this reference system, i.e., the system error. In particular, this mismatch term allows one to limit the frequency content of the system error dynamics, which is used to drive the adaptive controller. It is shown that this key feature of our framework yields fast adaptation without incurring high-frequency oscillations in the transient performance.
UR - http://www.scopus.com/inward/record.url?scp=84883521665&partnerID=8YFLogxK
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U2 - 10.1109/acc.2013.6580880
DO - 10.1109/acc.2013.6580880
M3 - Conference contribution
AN - SCOPUS:84883521665
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 6631
EP - 6636
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -