A novel reduced-order model reference adaptive control approach with high-frequency oscillation suppression

被引:0
|
作者
Tian, Tingting [1 ]
Hou, Xiaorong [1 ]
Yan, Fang [1 ]
机构
[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China
基金
中国国家自然科学基金;
关键词
reduced-order MRAC; MIMO nonlinear dynamical systems; high-frequency oscillations; modified scalar update law; fast adaptation;
D O I
10.1088/1402-4896/ad7336
中图分类号
O4 [物理学];
学科分类号
0702 ;
摘要
High-frequency oscillations may occur in the control signal when the adaptive gain is too large, which will adversely affect the robustness of the model reference adaptive control (MRAC) law and potentially induce system instability. To tackle this challenge, we introduce a reduced-order MRAC approach based on a modified scalar update law that includes a modification term to filter out high-frequency content for the multi-input multi-output (MIMO) nonlinear dynamical systems. This modification significantly reduces the high-frequency oscillations, allowing a controller with a high adaptive gain to achieve fast adaptation. In addition, with this reduced-order adaptive control approach, only two parameters need to be updated online, thus substantially reducing the overall computation burden. Furthermore, we demonstrate that the proposed reduced-order MRAC approach guarantees the Lyapunov asymptotic stability of the system error dynamics. Simulation results are conducted to validate the electiveness of the proposed method.
引用
收藏
页数:14
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