Set-theoretic model reference adaptive control with time-varying performance bounds. Issue 11 (2nd November 2019)

• Record Type: Journal Article
• Authors: Arabi, Ehsan; Yucelen, Tansel
• Is Part Of: International journal of control. Volume 92:Issue 11(2019)
• Page Start: 2509
• Page End: 2520
• Publication Date: 2019-11-02
• Subjects: Uncertain dynamical systems -- command following -- model reference adaptive control -- generalised restricted potential functions (generalised barrier Lyapunov functions) -- time-varying performance bounds; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1442026
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: One of the fundamental problems in model reference adaptive control design is the ability of the controlled system to achieve not only stability but also a user-defined performance in the presence of exogenous disturbances and system uncertainties. To this end, we recently proposed a set-theoretic model reference adaptive control framework, which guarantees the norm of the system error to be less than a user-defined constant performance bound. The contribution of this paper is to generalise the set-theoretic model reference adaptive control framework for enforcing user-defined time-varying performance bounds on the system error, which gives the control designer a flexibility to control the closed-loop system performance as desired on different time intervals (e.g. transient time interval and steady-state time interval). Two adaptive command following control architectures are proposed and their stability and performance properties are rigorously established using system-theoretic methods.