论文信息 - B-MRAC: A NEW MODEL REFERENCE ADAPTIVE CONTROLLER BASED ON BINARY CONTROL THEORY

B-MRAC: A NEW MODEL REFERENCE ADAPTIVE CONTROLLER BASED ON BINARY CONTROL THEORY

This paper reviews and extends earlier results on input/output based variable structure adaptive control algorithms and its binary (in the sense of Emelyanov) version. The latter was formulated only for the case of plants with relative degree one. Here a new controller is proposed for the general case of arbitrary relative degree. The new adaptive control scheme, termed binary model reference adaptive control (B–MRAC), is shown to have global exponential stability properties.

Liu Hsu | Ramon R. Costa

[1] Liu Hsu,et al. Adaptive control with discontinuous σ-factor and saturation for improved robustness , 1987 .

[2] Petros A. Ioannou,et al. Robust redesign of adaptive control , 1984 .

[3] K. Narendra,et al. Stable adaptive controller design--Direct control , 1978 .

[4] J. J. Slotine,et al. Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.