NDLI: Model-Reference Adaptive-Control Scheme for Servo Systems based on the Coefficient-Plane Method

Content Provider	IEEE Xplore Digital Library
Author	Strassberg, Y. Dayan, J.
Copyright Year	1988
Description	Author affiliation: Faculty of Mechanical Engineering, Technion - Israel Institute of Technology, Haifa 32000, Israel (Strassberg, Y.; Dayan, J.)
Abstract	A new adaptive-control scheme based on the coefficient plane theory is presented. The MRAC scheme has a small number of parameters to be estimated. Updating the controller, after the estimation stage, is based on the sensitivity function of the whole system. The scheme is especially easy to realize for systems controlled by a sequence of steps (point to point) similar to the common policy in many robot servo systems. A simulation example of a simple third order SISO system controlled by the proposed adaptive scheme is presented. The estimation is based on the analysis of the output signal and on the identification of the coefficient plane parameters b and c of the entire system The adaptive-control law is then uniquely computed.
Starting Page	1648
Ending Page	1652
File Size	419523
Page Count	5
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Servomechanisms Control systems Parameter estimation Robot sensing systems Computational modeling Control system synthesis Programmable control Adaptive control Signal analysis Signal processing
Content Type	Text
Resource Type	Article

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