This chapter is devoted to the design of adaptive controllers for dynamical systems that operate in the presence of parametric uncertainties and bounded noise. Four MRAC design modifications for robustness are discussed: (1) the dead zone, (2) the \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document} $$ \sigma $$ \end{document}-modification, (3) the \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document} $$ e $$ \end{document}-modification, and (4) the Projection Operator. We argue that out of the four modifications, the dead zone and the Projection Operator are essential for any MRAC system designed to predictably operate in a realistic environment.
Robust Adaptive Control
Adv. Textbooks Control, Signal Proc.
2012-09-01
37 pages
Article/Chapter (Book)
Electronic Resource
English
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