Towards a performance theory of robust adaptive control
Towards a performance theory of robust adaptive control
We consider standard robust adaptive control designs based on the dead-zone and projection modifications, and compare their performance w.r.t. a worst case transient cost functional penalising the $L^\infty$ norm of the output, control and control derivative. If a bound on the $L^\infty$ norm of the disturbance is known, it is shown that the dead-zone controller outperforms the projection controller if the a-priori information on the uncertainty level is sufficiently conservative. The second result shows that the projection controller is superior to the dead-zone controller when the a-priori information on the disturbance level is sufficiently conservative. For conceptual clarity the results are presented on a nonlinear scalar system with a single uncertain parameter and generalisations are briefly discussed.
403-421
Sanei, A.
1bf0b514-f95a-488f-9621-d09a9fd207c4
French, M.
22958f0e-d779-4999-adf6-2711e2d910f8
2004
Sanei, A.
1bf0b514-f95a-488f-9621-d09a9fd207c4
French, M.
22958f0e-d779-4999-adf6-2711e2d910f8
Sanei, A. and French, M.
(2004)
Towards a performance theory of robust adaptive control.
International Journal of Adaptive Control and Signal Processing, 18 (4), .
Abstract
We consider standard robust adaptive control designs based on the dead-zone and projection modifications, and compare their performance w.r.t. a worst case transient cost functional penalising the $L^\infty$ norm of the output, control and control derivative. If a bound on the $L^\infty$ norm of the disturbance is known, it is shown that the dead-zone controller outperforms the projection controller if the a-priori information on the uncertainty level is sufficiently conservative. The second result shows that the projection controller is superior to the dead-zone controller when the a-priori information on the disturbance level is sufficiently conservative. For conceptual clarity the results are presented on a nonlinear scalar system with a single uncertain parameter and generalisations are briefly discussed.
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Published date: 2004
Organisations:
Southampton Wireless Group
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Local EPrints ID: 259068
URI: https://eprints.soton.ac.uk/id/eprint/259068
ISSN: 0890-6327
PURE UUID: 0b5ed4f5-503b-4f2c-98c7-85ce7cf61280
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Date deposited: 11 Mar 2004
Last modified: 18 Jul 2017 09:26
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Author:
A. Sanei
Author:
M. French
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