Discrete-time combined model reference adaptive control

Abstract

SUMMARYThe discrete-time version of continuous-time combined model reference adaptive control (CMRAC) is presented in this paper. A global stability proof of the overall adaptive scheme is given using arguments similar to those used in discrete-time direct model reference adaptive control (DMRAC) but properly modified to account for the different structure of CMRAC with respect to DMRAC.

The Role of a Novel Discrete-Time MRAC Based Motion Cueing on Loss of Control at a Hexapod Driving Simulator

“…The objective is to regulate the output minimized (platform-vehicle levels' sensed acceleration difference minimization). The system (dynamic driving simulator) is subject to disturbances and is driven by controls [26]- [30]. Table 2 illustrates the constraints of the dynamic driving simulator SAAM, which was used in the real-time dll plugin in the SCANeR studio software for the both motion cueing algorithms.…”

Robust adaptive tracking with an additional plant identifier for a class of nonlinear systems

“…Secondly, in order to relax Assumption (A1) we, as e.g. [11,12], define the closedloop estimation error FðtÞ for the adjustable gain y e ðtÞ. FðtÞ is obtained from Eq.…”

“…Consider system (1), the reference model (2) and the identifier (11). Suppose that assumptions ðA1Þ to ðA3Þ hold.…”

“…The external input to the controller is only the tracking error. The second part of the adaptation algorithm based on closed-loop estimation errors may be added in a manner similar to that in Section 2, see [11,12].…”

Control of longitudinal movement of a plane using combined model reference adaptive control

“…A brief description of the CMRAC algorithm used to control the plane is given in what follows, for sake of completeness. For a more detailed explanation of the algorithm, the reader is referred to the original sources (Duarte and Narendra, 1989a; Duarte, 1995; Duarte and Narendra, 1989b; Duarte and Ponce, 1997). Since they are used for comparison purposes, the PID and DMRAC (Narendra and Anaswamy, 1989) are also presented.…”