Design of derivative-free model-reference adaptive control for a class of uncertain systems based on disturbance compensation

被引：2
作者：
Gao D.-X. [1 ]
Zhou L. [1 ]
Chen J. [2 ]
Pan C.-Z. [1 ]
机构：
[1] School of Information and Electrical Engineering, Hunan University of Science and Technology, Hunan, Xiangtan
[2] School of Mathematics and Computational Science, Hunan University of Science and Technology, Hunan, Xiangtan
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 04期
基金：
中国国家自然科学基金;
关键词：
disturbance estimator; model-reference adaptive control; nonlinear disturbance; parameter uncertainty;
D O I：
10.7641/CTA.2022.10906
中图分类号：
学科分类号：
摘要：
This paper presents a derivative-free model-reference adaptive control (DF-MRAC) method for a class of systems with parameter uncertainties and nonlinear disturbances based on the active disturbance estimation and compensation approach so as to achieve the high-precision tracking for reference model output signal. First, exploiting the available model information of the controlled plant, a disturbance estimator is designed to estimate the unknown nonlinear disturbances. Next, a reference model based on the estimate of nonlinear disturbances and a derivative-free parameter update law are designed to estimate the parameter uncertainties. The estimate of uncertainties is incorporated into a DF-MRAC controller to yield an adaptive control law based on the disturbance compensation and state feedback that effectively compensate for the nonlinear disturbances and parameter uncertainties. Then, the convergence conditions for the error signals of the closed-loop system are investigated and a regulation method for the controller parameters is developed. Finally, simulation results demonstrate the effectiveness and superiority of the proposed method. © 2023 South China University of Technology. All rights reserved.
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页码：735 / 743
页数：8
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