A Smooth Projection Adaptation Law for Robust MRACS

摘要

Adjustable parameters in an adaptive controller are usually constrained into a specified convex region from the viewpoint of realizing an adaptive controller and/or guaranteeing the robust stability in adaptive loop. In this paper, we propose new two smooth projection algorithms which can constrain adjustable parameters to an inner region of hyper-parallelogram and we design a model reference adaptive control system (MRACS) by using those. The validity of the proposed projection algorithm is indicated with the stability analysis of MRACS and the effectiveness is verified by simple numerical simulation results.