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Authors
S A Neild1, L Yang1, D J Wagg1
1 Department of Mechanical Engineering, University of Bristol, Bristol, UK
Abstract
In this paper, a modified model reference adaptive control (MRAC) strategy is developed for use on plants with noise or unmodelled high-frequency dynamics. MRAC consists of two parts, an adaptive control part and a fixed gain control part. The adaptive algorithm uses a combination of low- and high-pass filters such that the frequency range for the adaptive part of the strategy is limited. The mechanism for noise-induced gain wind-up is demonstrated analytically, and it is shown how MRAC can be modified to eliminate this wind-up. Further to this, an additional filter is proposed to improve MRAC robustness to high-frequency unmodelled dynamics. Two test plants, one with added noise and the other with unmodelled high-frequency dynamics, are considered. Both plants exhibit unstable behaviour when controlled using standard MRAC, but, with the modified strategy, robustness is significantly improved.
Translated title of the contribution | A modified model reference adaptive control approach for systems with noise or unmodelled dynamics |
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Original language | English |
Pages (from-to) | 197 - 208 |
Number of pages | 11 |
Journal | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering |
Volume | 222(3) |
DOIs | |
Publication status | Published - 2008 |