A new model reference adaptive control structure for uncertain switched systems with unmodeled input dynamics

作     者：Sinafar, Behzad Ghiasi, Amir Rikhtehgar Fazli, Atousa Karimi 

作者机构：Sharif Univ Technol Dept Elect Engn Tehran *** Iran Univ Tabriz Fac Elect & Comp Engn Tabriz Iran Sharif Univ Technol Sch Sci & Engn Kish Isl Iran 

出 版 物：《TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL》 (计量与控制学会汇刊)

年 卷 期：2015年第37卷第10期

页      面：1171-1180页

核心收录：

学科分类：08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

主　　题：Uncertain switched systems model reference adaptive control linear matrix inequality modified structure adaptive control 

摘      要：In this paper, a new model reference adaptive controller (MRAC) for uncertain switched linear systems is developed. A class of uncertain switched linear systems with parametric mismatched and input matched uncertainties, control input effectiveness and unmodeled dynamics is studied in this paper. The difference in input matrix for different switching modes which means the input channel degradation is investigated through this paper. By using common Lyapunov function method and developing new linear matrix inequality based sufficient conditions, uniform ultimate boundedness of the reference tracking error is guaranteed by switched MRAC and by using a novel nonlinear controller term, the size of the uniform ultimate bounded region can be made arbitrarily small which could enhance the performance of the overall control structure. Modified versions of MRAC systems using low-frequency learning adaptation MRAC is also used for better transient performance at switching instants. An illustrative numerical example demonstrates the performance of the proposed approach. Results also show that for the cases without parametric uncertainty in the linear part, asymptotic stability of the reference tracking error is guaranteed.