Adaptive control of robots with an improved transient performance

Arteaga, Marco A.; Tang, Yu

doi:10.1109/tac.2002.800672

Cited by 37 publications

(38 citation statements)

References 20 publications

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“…There has been great deal of efforts to modify the control architecture and the adaptive laws from the perspective of improving the transient behavior of the tracking error. The majority of these efforts led to high gain linear nonadaptive feedback [3], [4], [12], switching control law [8], [9] or to a parameter dependent persistent excitation condition [1].…”

Section: Introductionmentioning

confidence: 99%

MRAC Revisited: Guaranteed performance with reference model modification

Stepanyan

Krishnakumar

2010

Proceedings of the 2010 American Control Conference

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Abstract-This paper presents modification of the conventional model reference adaptive control (MRAC) architecture in order to achieve guaranteed transient performance both in the output and input signals of an uncertain system. The proposed modification is based on the tracking error feedback to the reference model. It is shown that approach guarantees tracking of a given command and the ideal control signal (one that would be designed if the system were known) not only asymptotically but also in transient by a proper selection of the error feedback gain. The method prevents generation of high frequency oscillations that are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference command of any magnitude form any initial position without re-tuning. The benefits of the method are demonstrated in simulations.

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Section: Introductionmentioning

confidence: 99%

MRAC Revisited: Guaranteed performance with reference model modification

Stepanyan

Krishnakumar

2010

Proceedings of the 2010 American Control Conference

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“…It is known that the matrix Mðt 1 Þ in (30) is non-singular if the set of the component functions of c u ðtÞ is linearly independent within ½0; t 1 [13]. Although such a condition cannot be verified a priori, nevertheless, it is still likely to hold during the transient [7,8].…”

Section: Proofmentioning

confidence: 99%

“…However, there are many practical applications whose commanded trajectories do not fall into such a class. By using structures different from conventional designs, it is noted that parameter convergence has been achieved on a weaker PE condition in various designs [7,8]. For the dealing single input/ single output fully linearizable systems, it is found that the filtering of the regressor, required for realizing the update algorithm in Reference [7], can be avoided by incorporating the technique in Reference [9].…”

Section: Introductionmentioning

confidence: 99%

A smooth switching adaptive controller for linearizable systems with improved transient performance

Huang

Chen

2006

Adaptive Control & Signal

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The certainty equivalent control has achieved asymptotic tracking stability of linearizable systems in the presence of parametric uncertainty. However, two major drawbacks remain to be tackled, namely, the risk of running into singularity for the calculated control input and the poor transient behaviour arising frequently in a general adaptive system. For the first problem, a high gain control is activated in place of the certainty equivalent control until the risk is bypassed. Among others, it requires less control effort by taking advantages of the bounds for the input vector field. Moreover, the switching mechanism is smooth and hence avoids possible chattering behaviour. Next, to solve the second problem, a new type of update algorithm guaranteeing the exponential stability of the overall closed-loop system, on a weaker persistent excitation (PE) condition, is proposed. In particular, it requires no filtering of the regressor and hence is easier to implement. Simulation results demonstrating the validity of the proposed design are given in the final.

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“…Since the transient of the adaptive signals can be very oscillatory with big excursions [18], there has been a great deal of effort to modify the control architecture and the adaptive laws from the perspective of improving it. The majority of these efforts led to nonadaptive high gain feedback [3], [4], [16], switching control law [9], [10] or to a parameter dependent persistent excitation condition [1], and addressed only the behavior of output signal.…”

Section: Introductionmentioning

confidence: 99%

M-MRAC for nonlinear systems with bounded disturbances

Stepanyan

Krishnakumar

2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-This paper presents design and performance analysis of a modified reference model MRAC (M-MRAC) architecture for a class of multi-input multi-output uncertain nonlinear systems in the presence of bounded disturbances. M-MRAC incorporates an error feedback in the reference model definition, which allows for fast adaptation without generating high frequency oscillations in the control signal, which closely follows the certainty equivalent control signal. The benefits of the method are demonstrated via a simulation example of an aircraft's wing rock motion.

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Adaptive control of robots with an improved transient performance

Cited by 37 publications

References 20 publications

MRAC Revisited: Guaranteed performance with reference model modification

MRAC Revisited: Guaranteed performance with reference model modification

A smooth switching adaptive controller for linearizable systems with improved transient performance

M-MRAC for nonlinear systems with bounded disturbances

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