NDLI: On Adaptive Control With Closed-Loop Reference Models: Transients, Oscillations, and Peaking

Content Provider	IEEE Xplore Digital Library
Author	Gibson, T.E. Annaswamy, A.M. Lavretsky, E.
Copyright Year	2013
Abstract	One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently, it has been shown that closed-loop reference models (CRMs) can result in improved transient performance over their open-loop counterparts in model reference adaptive control. In this paper, we quantify both the transient performance in the classical adaptive systems and their improvement with CRMs. In addition to deriving bounds on L-2 norms of the derivatives of the adaptive parameters that are shown to be smaller, an optimal design of CRMs is proposed that minimizes an underlying peaking phenomenon. The analytical tools proposed are shown to be applicable for a range of adaptive control problems including direct control and composite control with observer feedback. The presence of CRMs in adaptive backstepping and adaptive robot control is also discussed. Simulation results are presented throughout this paper to support the theoretical derivations.
Starting Page	703
Ending Page	717
Page Count	15
File Size	12511188
File Format	PDF
ISSN	21693536
Volume Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-01-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptation models Customer relationship management Transient analysis Adaptive control Oscillators Mathematical model closed-loop reference model Adaptive algorithms adaptive algorithms adaptive control observers
Content Type	Text
Resource Type	Article
Subject	Computer Science Engineering Materials Science

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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