Model Reference Adaptive Control

Survey of Control Systems (MEM 800) Presented by Keith Sevcik

Concept
Model
ymodel Controller Parameters

Adjustment Mechanism

uc

Controller

Plant

yplant

Design controller to drive plant response to mimic ideal response (error = yplant-ymodel => 0)  Designer chooses: reference model, controller structure, and tuning gains for adjustment mechanism


MIT Rule


Tracking error: Form cost function: Update rule:

e ! y plant  ymodel
1 2 J (U ) ! e (U ) 2 dU HJ He ! K ! Ke dt HU HU
sensitivity derivative

Change in U is proportional to negative gradient of J

MIT Rule
Can chose different cost functions  EX:


J (U ) ! e(U )

dU He ! K sign (e) dt HU 1 , e " 0 where sign (e) ! 0, e ! 0 1, e 0 



From cost function and MIT rule, control law can be formed

MIT Rule


EX: Adaptation of feedforward gain

Reference Model

Gm ( s ) ! k o G ( s )
Adjustment Mechanism

ymodel

K s
Plant uc u

+ yplant

G p ( s) ! k G ( s)

MIT Rule
Y (s)  For system ! kG( s ) where k is unknown U (s) Y ( s) ! koG ( s)  Goal: Make it look like U c ( s)

using plant Gm ( s) ! koG ( s) (note, plant model is scalar multiplied by plant)

MIT Rule


Choose cost function:

1 2 J (U ) ! e (U ) p 2

He dU ! Ke HU dt

Write equation for error:

e ! y  ym ! kGU  GmU c ! kGUU c  koG U c

Calculate sensitivity derivative:

k He ym ! kGU c ! ko HU

Apply MIT rule:

dU k !  K ' ym e !  Kym e dt ko

MIT Rule


Gives block diagram:

Reference Model

Gm ( s ) ! k o G ( s )
Adjustment Mechanism

ymodel

K s
Plant uc u

+ yplant

G p ( s) ! k G ( s)

considered tuning parameter

MIT Rule


NOTE: MIT rule does not guarantee error convergence or stability

usually kept small

Tuning K crucial to adaptation rate and stability.

MRAC of Pendulum


System
  JU cU  mgd c sin U ! d1 T
d2 dc d1

U (s) d1 ! 2 T ( s) Js  cs  mgd c
T

U ( s) 1.89 ! 2 T ( s) s  0.0389 s  10 .77

MRAC of Pendulum


Controller will take form:

Model
ymodel

Controller Parameters

Adjustment Mechanism

uc

Controller

1.89 s 2  0.0389 s  10 .77

yplant

MRAC of Pendulum


Following process as before, write equation for error, cost function, and update rule:

e ! y plant  ymodel
1 2 J (U ) ! e (U ) 2 dU HJ He ! K ! Ke dt HU HU
sensitivity derivative

MRAC of Pendulum


Assuming controller takes the form:

u ! U1uc  U 2 y plant e ! y plant  ymodel ! G p u  Gmuc 1.89 U y plant ! G p u ! 2  1uc  U 2 y plant s  0.0389 s  10.77 1.89U1 y plant ! 2 uc s  0.0389s  10.77  1.89U 2

MRAC of Pendulum
1.89U1 e! 2 uc  Gmuc s  0.0389 s  10 .77  1.89U 2 xe 1.89 ! 2 uc xU1 s  0.0389 s  10 .77  1.89U 2 xe 1.89 U1 ! u 2 c 2 xU 2 s  0.0389 s  10 .77  1.89U 2
2

1.89U1 ! 2 y plant s  0.0389 s  10 .77  1.89U 2

MRAC of Pendulum


If reference model is close to plant, can approximate:

2 2

s  0.0389 s  10.77  1.89U 2 } s  a1m s  a0 m a1m s  a0 m xe ! 2 uc xU1 s  a1m s  a0 m a1m s  a0 m xe ! 2 y plant xU 2 s  a1m s  a0 m

MRAC of Pendulum


From MIT rule, update rules are then:

a1m s  a0 m dU1 xe e ! K 2 u c e ! K s a sa dt xU1 1m 0m a1m s  a0 m dU 2 xe e !K 2 y plant e ! K s a sa dt xU 2 1m 0m

MRAC of Pendulum


Block Diagram
Reference Model

bm s 2  a1m s  a0 m
+ 1

ymodel -

uc

1.89 s 2  0.0389 s  10 .77

Plant

yplant

+ e

K s
a1m s  a0 m s 2  a1m s  a0 m

K s
a1m s  a0 m s 2  a1m s  a0 m

MRAC of Pendulum


Simulation block diagram (NOTE: Modeled to reflect control of DC motor)

om eg a^2 s+ a m
ym

R e fe re n ce M o d e l

E rro r

S a tu ra ti o n 35 2 /2 6 S te p D e g re e s D e g re e s to V o l ts -g a m m a s
Th e ta 1

4 .4 1 s2 + .0 3 9 s+ 1 0 .7 7 Plant

1 8 0 /p i Ra dian s to D e g re e s

gam m a
Th e ta 2

am s+ a m am s+ a m

MRAC of Pendulum


Simulation with small gamma = UNSTABLE!

150 ym g= .0001 100

50

-50

-100

200

400

600

800

1000

1200

MRAC of Pendulum


Solution: Add PD feedback

o m e ga ^2 s+ a m
ym

R e fe re n ce M o d e l

1 .5 D

d u /d t
E rro r

S a tu ra ti o n 35 S te p D e g re e s 1 2 /2 6 P D e g re e s to V o l ts -g a m m a s
Th e t a 1

4 .4 1 s2 + .0 3 9 s+ 1 0 .7 7 Plant

1 8 0 /p i Ra d ia n s to D e g re e s

gam m a
Th e t a 2

am s+ a m am s+ a m

MRAC of Pendulum


Simulation results with varying gammas

45 ym g= .01 40 g= .001 g= .0001 35

3.56 ym ! 2 s  2.67 s  3.56 Designed such that : Ts ! 3 sec ^ ! .707

30

25

20

15

10

500

1000

1500

2000

2500

LabVIEW VI Front Panel

LabVIEW VI Back Panel

Experimental Results

Experimental Results
PD feedback necessary to stabilize system  Deadzone necessary to prevent updating when plant approached model  Often went unstable (attributed to inherent instability in system i.e. little damping)  Much tuning to get acceptable response


Conclusions
 

Given controller does not perform well enough for practical use More advanced controllers could be formed from other methods
Modified (normalized) MIT Lyapunov direct and indirect Discrete modeling using Euler operator

Modified MRAC methods

Fuzzy-MRAC FuzzyVariable Structure MRAC (VS-MRAC) (VS-