Paper discusses stability of digital model-reference adaptive control (MRAC) of robotic system or plant that operates at discrete time steps. Command-generator tracker (CGT) concept, originally proposed for continuous-time systems, is applied in discrete-time setting, enabling relaxation of some restrictive assumptions that guarantee stability of system controlled according to resulting algorithm. Likely applications include systems in which sensors and actuators not placed together.
Discrete-Time Model-Reference Adaptive Control
NASA Tech Briefs ; 13 , 3
1989-03-01
Miscellaneous
No indication
English
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