Derivative-Free Model Reference Adaptive Control

摘要

Aderivative-free, delayedweight update lawis developed formodel reference adaptive control of continuous-timernuncertain systems, without assuming the existence of constant ideal weights. Using a Lyapunov–Krasovskiirnfunctional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modificationrnterms in the adaptive law. Estimates for the ultimate bound and the exponential rate of convergence to the ultimaternbound are provided. Also discussed are employing various modification terms for further improving performancernand robustness of the adaptively controlled system. Examples illustrate that the proposed derivative-free modelrnreference adaptive control law is advantageous for applications to systems that can undergo a sudden change inrndynamics.