Robust Stability for Multiple Model Adaptive Control: Part I—The Framework
نویسندگان
چکیده
منابع مشابه
Robust Stability for Multiple Model Adaptive Control: Part I - The Framework
An axiomatic framework providing robust stability and performance bounds for a wide class of Estimation based Multiple Model Switched Adaptive Control (EMMSAC) algorithms is developed. The approach decouples development of both the atomic control designs and the estimation processes thus permitting the usage of standard controller design and optimisation approaches for these components. The fra...
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While the concept of switching between multiple controllers to achieve a control objective is not new, the available analysis to date imposes various structural and analytical assumptions on the controlled plant. The analysis presented in this thesis, which is concerned with an Estimation-based Multiple Model Switched Adaptive Control (EMMSAC) algorithm originating from Fisher-Jeffes (2003); Vi...
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The axiomatic development of a wide class of Estimation based Multiple Model Switched Adaptive Control (EMMSAC) algorithms considered in the first part of this two part contribution forms the basis for the proof of the gain bounds given in this paper. The bounds are determined in terms of a cover of the uncertainty set, and in particular, in many instances, are independent of the number of cand...
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The Robust Multiple Model Adaptive Control (RMMAC) methodology was first introduced in Fekri et al. [2006] for open-loop stable plants with parametric uncertainty and unmodeled dynamics subjected to external disturbances and measurement noise. This paper addresses the stability of RMMAC systems. We show, using concepts and analysis tools that borrow from Supervisory Control, that all closed-loo...
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This paper addresses the problem of controlling a continuous-time linear system with large modelling errors. We employ an adaptive control algorithm consisting of a family of linear candidate controllers supervised by a high-level switching logic. Methods for constructing such controller families have been discussed in the recent paper by the authors. The present paper concentrates on the switc...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2016
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2015.2492518