Abstract

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.

Original languageEnglish (US)
Title of host publication2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages127-132
Number of pages6
ISBN (Electronic)9781728105215
DOIs
StatePublished - Apr 2019
Event6th International Conference on Control, Decision and Information Technologies, CoDIT 2019 - Paris, France
Duration: Apr 23 2019Apr 26 2019

Publication series

Name2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019

Conference

Conference6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
CountryFrance
CityParis
Period4/23/194/26/19

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Control and Optimization
  • Decision Sciences (miscellaneous)

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  • Cite this

    Joshi, G., & Chowdhary, G. (2019). Hybrid direct-indirect adaptive control of nonlinear system with unmatched uncertainty. In 2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019 (pp. 127-132). [8820301] (2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CoDIT.2019.8820301