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Novel model reference adaptive control with application to wing rock example
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering ( IF 1.1 ) Pub Date : 2021-05-27 , DOI: 10.1177/0954410020987041
Jafar Roshanian 1 , Ehssan Rahimzadeh 1
Affiliation  

In this study, we propose new adaptive laws for adjusting the controller parameters of the model reference adaptive control (MRAC) and MRAC with integral feedback schemes. The innovation presented in this study is considering a new form for the Lyapunov function candidate to prove the stability of the closed-loop system. In general, a Lyapunov function candidate contains two sets of quadratic expressions. The first set contains the state tracking error variable, while the second one consists of the controller parameter estimation errors. We prove that by choosing the tracking error quadratic expressions in the form of the exponential function, new adaptive laws that contain the tracking error quadratic expressions are obtained. The difference between the standard MRAC adaptive laws and the proposed new adaptive laws is the state tracking error exponential quadratic expression appears in the adaptive laws. It is shown that the adaptive laws obtained by the exponential quadratic Lyapunov function are similar to those obtained by the quadratic Lyapunov function except that the adaptive gains are variable with time. The advantage of using these new adaptive laws is improving the tracking performance of the closed-loop system, which has been proven analytically and verified by numerical simulations. Also, the robustness analysis of the proposed MRAC controller in the presence of the exogenous disturbance is studied. We consider the single degree of freedom of the wing rock example to evaluate the performance of the designed controllers.



中文翻译:

新型模型参考自适应控制及其在机翼岩石中的应用

在这项研究中,我们提出了新的自适应定律,用于通过积分反馈方案来调整模型参考自适应控制(MRAC)和MRAC的控制器参数。本研究中提出的创新正在考虑为Lyapunov函数候选者提供一种新形式,以证明闭环系统的稳定性。通常,李雅普诺夫函数候选包含两组二次表达式。第一组包含状态跟踪误差变量,而第二组包含控制器参数估计误差。我们证明,通过选择指数函数形式的跟踪误差二次表达式,可以获得包含跟踪误差二次表达式的新自适应律。标准MRAC自适应定律与拟议的新自适应定律之间的区别在于,自适应定律中出现了状态跟踪误差指数二次表达式。结果表明,除自适应增益随时间变化外,指数二次Lyapunov函数获得的自适应律与二次Lyapunov函数获得的自适应律相似。使用这些新的自适应定律的优势是提高了闭环系统的跟踪性能,这已通过分析验证并通过数值模拟进行了验证。此外,研究了在存在外源干扰的情况下所提出的MRAC控制器的鲁棒性分析。我们考虑机翼岩石示例的单一自由度,以评估所设计控制器的性能。

更新日期:2021-05-27
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