This paper considers the design of a robust adaptive H-infinity optimal controller based on the IMC structure. Specific attention is Focused on the practically important class of stable plants with one open right half...
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This paper considers the design of a robust adaptive H-infinity optimal controller based on the IMC structure. Specific attention is Focused on the practically important class of stable plants with one open right half-plane zero, The certainty equivalence principle of adaptive control is used to combine a robust adaptive law with a robust H-infinity internal model controller to obtain an adaptive H-infinity internal model control scheme with provable guarantees of stability and robustness. The approach used earlier for designing and analyzing adaptive H-2 optimal control schemes is seen to carry over in a natural fashion to the adaptive H-infinity optimal control case. This attests to the generality of that approach, which not only provides a theoretical basis for analytically justifying some of the reported industrial successes of existing adaptive internal model control schemes, but also opens up the possibility of synthesizing new ones by simply combining a robust adaptive law with a robust internal model controller structure.
It is shown that a nonlinear output feedback stabilizing controller, which combines a globally bounded state feedback controller with a high-gain observer, is robust with respect to unmodeled fast actuator and sensor ...
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It is shown that a nonlinear output feedback stabilizing controller, which combines a globally bounded state feedback controller with a high-gain observer, is robust with respect to unmodeled fast actuator and sensor dynamics. The actuator and sensor dynamics need to be sufficiently fast relative to the dynamics of the nominal closed-loop system under state feedback, but they need not be faster than the observer dynamics. (c) 2005 Elsevier Ltd. All rights reserved.
This paper deals with the design and implementation of a nonlinear control strategy to solve the path tracking problem for an Autonomous Underwater Vehicle (AUV) under model uncertainties and external disturbances. Fi...
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This paper considers the design and analysis of a robust adaptive model algorithmic controller based on the internal model control structure. The Certainty Equivalence principle of adaptive control is used to combine ...
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ISBN:
(纸本)0780364953
This paper considers the design and analysis of a robust adaptive model algorithmic controller based on the internal model control structure. The Certainty Equivalence principle of adaptive control is used to combine a discrete-time robust adaptive law with a model algorithmic internal model controller to obtain an adaptive model algorithmic internal model control scheme with provable guarantees of stability and robustness. The approach used parallels the earlier results obtained for adaptive internal model control. Nevertheless, there are some important differences which, together with the widespread interest in model algorithmic control, justifies a separate exposition.
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