On tuning leakage for performance-robust adaptive control

G.J Rey; C.R Johnson; S Dasgupta

doi:10.1109/9.35277

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On tuning leakage for performance-robust adaptive control

Journal article

Peer reviewed

On tuning leakage for performance-robust adaptive control

G.J Rey, C.R Johnson and S Dasgupta

IEEE transactions on automatic control, Vol.34(10), pp.1068-1071

10/1989

DOI: 10.1109/9.35277

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Abstract

The behavior of a model reference adaptive control (MRAC) system is examined. The effect of the inclusion of leakage in the adaptive algorithm is studied, and the leakage mechanism of the sigma -modification and the e/sub 1/-modification are discussed. A useful approximation is given for a particular MRAC problem for the small step-size average parameter estimate motion away from an arbitrary stabilizing adaptive controller parameterization. Arrow diagrams verify the conclusion that designer-selected leakage constants must be well chosen in relation to the unknown plant and environment to avoid bursting by an adaptive controller in the absence of adequate excitation by the external forcing function(s).< >

Adaptive algorithm

Adaptive control

Equations

Error correction

Labeling

Motion control

Motion estimation

Noise measurement

Parameter estimation

Programmable control

Details

Title: Subtitle: On tuning leakage for performance-robust adaptive control
Creators: G.J Rey - Cornell University
C.R Johnson - Cornell University
S Dasgupta - University of Iowa
Resource Type: Journal article
Publication Details: IEEE transactions on automatic control, Vol.34(10), pp.1068-1071
Publisher: IEEE
DOI: 10.1109/9.35277
ISSN: 0018-9286
eISSN: 1558-2523
Language: English
Date published: 10/1989
Academic Unit: Electrical and Computer Engineering
Record Identifier: 9984197342402771

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