Design issues in adaptive control

Transient performance, estimator resetting and filtering in nonlinear multiple model adaptive backstepping control

“…The model (54) - (55) is not in standard parametric strict-feedback form (1), and has to be transformed to this form to be controlled by the strategy described in Section II. By defining x 2 = kx 2 , and assuming τa k ≈ τ a due to the relatively little uncertainty in k ≈ 1, (54) and (55) may be written aṡ…”

“…To cope with this problem, multiple model adaptive control (MMAC) approaches have been proposed originally for linear systems [1], [2], [3], [4], [5], and [6]. Recently, MMAC ideas have been extended to nonlinear systems in [7], [8], [9], [10], [11] and [12].…”

Hysteresis-based switching algorithms for supervisory control of uncertain systems

“…An example of such a switching logic is the hysteresis switching logic described in Middleton, Goodwin, Hill, and Mayne (1988), Morse, Mayne, and Goodwin (1992). According to this logic, a switch occurs when the monitoring signal that corresponds to the controller currently in the feedback loop exceeds the smallest monitoring signal by a prespeciÿed positive number, called the hysteresis constant.…”

New Supervisory Control Using Control-Relevant Switching

“…Scale independent hysteresis and dwell-time methods are representative of the switching logic for supervisory control; see (Middleton et al, 1988;Hespanha and Morse, 1999;Hespanha et al, 2002;Hespanha et al, 2003a) for the former, and (Morse, 1996;Borrelli et al, 1999;Kim et al, 2004b;Kim et al, 2004a) for the latter. Switching algorithms of both the types are based only on the estimator performance.…”