TY - GEN
T1 - Hybrid direct-indirect adaptive control of nonlinear system with unmatched uncertainty
AU - Joshi, Girish
AU - Chowdhary, Girish
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/4
Y1 - 2019/4
N2 - In this paper, we present a hybrid direct-indirect model reference adaptive controller (MRAC), to address a class of problems with matched and unmatched uncertainties. In the proposed architecture, the unmatched uncertainty is estimated online through a companion observer model. Upon convergence of the observer, the unmatched uncertainty estimate is remodeled into a state dependent linear form to augment the nominal system dynamics. Meanwhile, a direct adaptive controller designed for a switching system cancels the effect of matched uncertainty in the system and achieves reference model tracking. We demonstrate that the proposed hybrid controller can handle a broad class of nonlinear systems with both matched and unmatched uncertainties.
AB - In this paper, we present a hybrid direct-indirect model reference adaptive controller (MRAC), to address a class of problems with matched and unmatched uncertainties. In the proposed architecture, the unmatched uncertainty is estimated online through a companion observer model. Upon convergence of the observer, the unmatched uncertainty estimate is remodeled into a state dependent linear form to augment the nominal system dynamics. Meanwhile, a direct adaptive controller designed for a switching system cancels the effect of matched uncertainty in the system and achieves reference model tracking. We demonstrate that the proposed hybrid controller can handle a broad class of nonlinear systems with both matched and unmatched uncertainties.
UR - http://www.scopus.com/inward/record.url?scp=85072826231&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85072826231&partnerID=8YFLogxK
U2 - 10.1109/CoDIT.2019.8820301
DO - 10.1109/CoDIT.2019.8820301
M3 - Conference contribution
AN - SCOPUS:85072826231
T3 - 2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
SP - 127
EP - 132
BT - 2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
Y2 - 23 April 2019 through 26 April 2019
ER -