Adaptive LQ Control: Conflict Between Identification and Control
نویسندگان
چکیده
We consider one of the fundamental limitations of indirect adaptive control based on the minimization of a quadratic cost criterion and the certainty equivalence principle. We show that the interaction between (closed-loop) identification and optimal control is conflictive in the sense that almost all possible limits of the sequence of parameter estimates induce suboptimal behavior of the adaptively controlled system.
منابع مشابه
Almost Optimal Adaptive LQ Control: Observed State Case - Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
In this paper we propose an almost optimal indirect adaptive controller for input/state dynamical systems. The control part of the adaptive scheme is based o n a modified L Q control law: by adding a time varying gain to the certainty equivalent control law we avoid the conflict between identification and control.
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