Proportional learning rate model reference adaptive control for fast adaptation

摘要

Since adaptive controllers does not excessively depend on dynamical system models therefore, it has been used for several applications. But achieving fast adaptation using high gain learning rate is a limitation of adaptive controller. As high gain learning rate causes bursting and oscillations in the control signal which leads the system to instability and false adaptation. In this paper to address this problem of fast adaptation a novel proportional learning rate adaptive controller based on non-quadratic Lyapunov function is proposed. Effectiveness of the proposed work is demonstrated with simulation results of a numerical example.