Predictor-Based Model Reference Adaptive Control
نویسندگان
چکیده
his paper is devoted to the design and analysis of a state-predictor based direct adaptive controller for MultiInput-Multi-Output (MIMO) dynamical systems, with matched uncertainties. Our main intent is to evaluate possibility of improving MRAC transient characteristics during a tracking task. Towards that end, we propose the use of a state-predictor in formulating adaptive laws. Specifically, starting with a direct MRAC system, [1, 2, 4], we design a state predictor, while using the system full state measurements. Then through Lyapunov’ stability analysis, we propose a predictor-based modification to the MRAC laws. This modification constitutes the novelty of the results that are reported here.
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