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Adapt 4
Adapt 4
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Table of Contents
1. Introduction
2. Simple MRAC Schemes
3. MRC for SISO Plants
4. Direct MRAC
5. Direct MRAC
6. Indirect MRAC
7. Robust MRAC
8. Case Study
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Introduction
In this chapter, we design and analyze a wide class of
adaptive control schemes based on model reference
control (MRC) referred to as model reference
adaptive control (MRAC).
In MRC, the desired plant behavior is described by a
reference model and is driven by a reference
input. The control law is then developed so that
the closed-loop plant has a transfer function equal
to .This transfer function matching guarantees
that the plant will behave like the reference model for
any reference input signal. 3
Introduction
4
Introduction
Goal:
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Introduction
Another way of designing MRAC schemes is to
parameterize the plant transfer function in terms of the
desired controller parameter vector . The structure of
the MRC law is such that we can write
Direct MRAC
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Introduction
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Simple MRAC Schemes
Scalar Example: Adaptive Regulation
Barbalat's lemma 12
Simple MRAC Schemes
Scalar Example: Adaptive Regulation
We have shown that the combination of the control
law with the adaptive law meets the
control objective in the sense that it guarantees
boundedness for all signals and forces the plant state
to converge to zero. It is worth mentioning that, as in
the parameter identification problems, we cannot
establish that k(t) converges to k*. The lack of
parameter convergence is less crucial in adaptive
control than in PI, because in most cases the control
objective can be achieved without requiring the
parameters to converge to their true values.
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Simple MRAC Schemes
Scalar Example: Direct MRAC without Normalization
Consider the following first-order plant:
or
We propose the control law:
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Simple MRAC Schemes
Scalar Example: Direct MRAC without Normalization
plant is controllable
control law 15
Simple MRAC Schemes
Scalar Example: Direct MRAC without Normalization
where are the estimates of , respectively,
and search for an adaptive law to generate .
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Simple MRAC Schemes
Scalar Example: Direct MRAC without Normalization
k 1ex sgn(b )
adaptive laws
l 2er sgn(b )
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Simple MRAC Schemes
Scalar Example: Direct MRAC without Normalization
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Simple MRAC Schemes
Scalar Example: Indirect MRAC without Normalization
Consider the same problem in last example
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Simple MRAC Schemes
Scalar Example: Indirect MRAC without Normalization
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Simple MRAC Schemes
Scalar Example: Indirect MRAC without Normalization
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Simple MRAC Schemes
Scalar Example: Indirect MRAC without Normalization
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Simple MRAC Schemes
Scalar Example: Direct MRAC with Normalization
Consider the same first-order plant:
Control law: or
as before
or :Reference model
B-SPM
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Simple MRAC Schemes
Scalar Example: Direct MRAC with Normalization
normalizing signal:
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Simple MRAC Schemes
Scalar Example: Indirect MRAC with Normalization
Consider the same first-order plant:
SPM
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Simple MRAC Schemes
Scalar Example: Indirect MRAC with Normalization
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Simple MRAC Schemes
Scalar Example: Indirect MRAC with Normalization
As shown in last chapter, the above adaptive law
guarantees that
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Simple MRAC Schemes
Vector Case: Full-State Measurement
Consider the nth-order plant
(*)
Matching condition
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Simple MRAC Schemes
Vector Case: Full-State Measurement
In general, no may exist to satisfy the matching
condition (*), indicating that the above control law may
not have enough structural flexibility to meet the
control objective.
In some cases, if the structure of is known, ,
may be designed so that (*) has a solution for .
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Simple MRAC Schemes
Vector Case: Full-State Measurement
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Simple MRAC Schemes
Vector Case: Full-State Measurement
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Simple MRAC Schemes
Vector Case: Full-State Measurement
We propose the following Lyapunov function candidate:
Then
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MRC for SISO Plants
Remark:
Assumption P1 requires that the plant be minimum
phase and no assumptions about the location of the
poles of plant; i.e., the plant is allowed to have
unstable poles.
Note that we allow the plant to be uncontrollable or
unobservable, since, by assumption P1, all the plant
zeros are in LHP, any zero-pole cancellation can occur
only in LHP, which implies that the plant is both
stabilizable and detectable.
Assumption P1 is a consequence of the control
objective which is met by designing an MRC control law
that cancels the zeros of the plant and replaces them
with those of the reference model. For stability, such
cancellations should occur in LHP, which implies the
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assumption P1.
MRC for SISO Plants
MRC Schemes: Known Plant Parameters
Let us consider the feedback control law as:
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Structure of the MRC scheme
MRC for SISO Plants
MRC Schemes: Known Plant Parameters
control law
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
The closed-loop plant should be equal with reference:
or
matching equation 42
MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
We obtain the state-space representation of the overall
closed-loop plant by augmenting the state of the plant
with the states of the controller, i.e.,
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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reference model realization
MRC for SISO Plants
MRC Schemes: Known Plant Parameters
state error:
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
Example: Let us consider the second-order plant
choosing
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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MRC for SISO Plants
MRC Schemes: Known Plant Parameters
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Direct MRAC with Unnormalized Adaptive Laws
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 1
Plant: Model:
estimate of
composite state-space of the plant and controller:
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 1
Add and subtract the desired input
where Ac is as before.
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 1
B-SSPM form
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 1
The MRAC scheme is summarized by the equations
reference model:
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Direct MRAC with Unnormalized Adaptive Laws
The adaptive law is given by
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 2
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 2
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 2
As before
Adaptive law
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 2
The overall MRAC scheme is summarized as
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Direct MRAC with Unnormalized Adaptive Laws
Relative Degree n* = 2
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Direct MRAC with Unnormalized Adaptive Laws
Example: Let us consider the second-order plant
reference model:
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Direct MRAC with Unnormalized Adaptive Laws
where
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Direct MRAC with Normalized Adaptive Laws
Let us use the MRC law
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Direct MRAC with Normalized Adaptive Laws
DPM
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Direct MRAC with Normalized Adaptive Laws
B-SPM
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Direct MRAC with Normalized Adaptive Laws
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Indirect MRAC with Unnormalized Adaptive Laws
As in the direct MRAC case with unnormalized adaptive
laws, the complexity of the control law increases with
the value of the relative degree n* of the plant. In this
section we demonstrate the case for n* = 1.
The same methodology is applicable to the case of
n*>2 at the expense of additional algebraic
manipulations.
We propose the same control law as in the direct MRAC
case,
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Indirect MRAC with Unnormalized Adaptive Laws
where
plant parameters:
Controller parameters:
matching equations:
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Indirect MRAC with Unnormalized Adaptive Laws
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Indirect MRAC with Unnormalized Adaptive Laws
where
state-space
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Indirect MRAC with Unnormalized Adaptive Laws
is a Hurwitz polynomial
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Indirect MRAC with Normalized Adaptive Law
control law:
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Indirect MRAC with Normalized Adaptive Law
Summary:
Plant:
Controller:
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Robust MRAC
In this section we consider MRAC schemes that are
designed for a simplified model of the plant but are
applied to a higher-order plant. We assume that the
plant is of the form
where,
is the modeled part of the plant
is an unknown multiplicative perturbation with stable poles
is a bounded input disturbance
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Robust Direct MRAC
guarantees that 86
Robust Direct MRAC
Hence, we can combine normalization with any
modification, such as leakage, dead zone, or
projection, to form a robust adaptive law. Let us
consider the switching σ-modification, i.e.,
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Robust Direct MRAC
Using the properties of the norm, we have
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Robust Direct MRAC
Assumptions SI and S2 imply that defined as
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Robust Direct MRAC
The transfer function of the reference model
satisfies assumptions Ml and M2.
We start with the control law
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Robust Direct MRAC
We can use a wide class of robust adaptive laws. For
example gradient algorithm as:
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Robust Direct MRAC
Theorem Consider the MRAC scheme
where
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Robust Direct MRAC
is such that is analytic in
is an arbitrary constant, and denotes
finite constants, then all the signals in the closed-loop
plant are bounded and the tracking error satisfies
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Robust Direct MRAC
Remark1: it was shown that the projection
modification or switching σ-modification alone is
sufficient to obtain the same qualitative results as
those of Theorem. In simulations, adaptive laws using
dynamic normalization often lead to better transient
behavior than those using static normalization.
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Case Study:
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Case Study:
where the controller parameters
are such that the closed loop transfer function in each
axis is equal to that of the reference model. It can be
shown that this matching is achieved if
where,
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Case Study:
I is the identity 3x3 matrix, and the design constant λ
is taken to be equal to 1. The relationship between the
desired controller parameters and unknown plant
parameters shows that if we use the direct MRAC
approach, we will have to estimate 12 parameters,
which is the number of the unknown controller
parameters, whereas if we use the indirect MRAC
approach, we estimate only 3 parameters, namely the
unknown inertias. For this reason the indirect MRAC
approach is more desirable.
Using the CE approach, the control law is given as
Filtering by
Define:
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Case Study:
we obtain the SPMs
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Case Study:
where
adaptive gains:
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Case Study:
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Simulation results of indirect MRAC.
THE END
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