Experimental Results with the Set-Theoretic Model Reference Adaptive Control Architecture on an Aerospace Testbed

摘要

In this paper, we present experimental results of a recently developed set-theoretic model reference adaptive control architecture on an aerospace testbed, which is configured as a conventional dual-rotor helicopter. The key feature of this architecture allows the system error bound between the state of an uncertain dynamical system and the state of a reference model, which captures a desired closed-loop system performance, to be less than a-priori, user-defined worst-case performance bound. This means that this proposed architecture is suitable for enforcing strict performance guarantees during the transient and steady-state response of the adaptation process. Specifically, we first experimentally demonstrate the practical capabilities of this adaptive control algorithm with constant performance bounds on the considered testbed. We then consider the time-varying performance bounds, where we highlight how a control designer is empowered by the set-theoretic model reference adaptive control architecture to control the closed-loop system performance as desired on different time intervals (e.g. transient time interval and steady-state time interval) and also how to handle a possible system initialization error that can happen in practice.