Expanded Reference Models for Adaptive Control of Uncertain Systems with Actuator Dynamics

摘要

For uncertain dynamical systems with actuator dynamics, this paper presents a new adaptive control architectureusing expanded reference models. Specifically, the proposed approach allows the trajectories of an uncertain dynamicalsystem to follow the trajectories of the expanded reference model. As compared to a well-known approach, it is shownthat the expanded reference model trajectories remain predictably close to the trajectories of a given ideal referencemodel, which captures a desired closed-loop system performance. Furthermore, a command governor method is alsodeveloped along with the proposed expanded reference model to achieve asymptotic convergence of the expandedreferencemodel trajectories to those of the ideal reference model such that the desired closed-loop system performancecan be captured.Toprovide additional robustness for possible uncertainties in the actuator bandwidths, an estimation ofthe actuator bandwidth is incorporated into the proposed architecture. The stability of the current approach is analyzedusing linear matrix inequalities and the Lyapunov theory, where a numerical example is also presented to illustrate theefficacy of the current contributions.