Limited-complexity model-unfalsifying adaptive tracking-control
This paper considers the problem of robust tracking by model unfalsification. In this approach the unfalsified set of models is continually updated by an on-line algorithm, and the control design then considers the worst case over this set. The main disadvantage of this technique is that it requires excessive computations with polytopes. This paper proposes ways of reducing the complexity of the unfalsified parameter sets so that the associated adaptive robust control algorithm will still achieve good performance asymptotically. The principal result establishes the convergence of adaptive steady-state tracking performance to near the ideal robust performance. Another contribution of the paper is the extension of previous results on adaptive robust reglation to the adaptive robust tracking problem with known output reference waveform. Further research is needed to reduce even more the polyhedron complexity so that asymptotic stability is less affected.
- Unfalsified model reference adaptive control using the ellipsoid algorithm
- Unfalsified direct adpative control of a two-link robot arm
- Robust control: Fooled by assumptions
- Convergence of control performance by unfalsification of models --- levels of ence
- Adaptive control with optimal robust tracking
- Robust MPC with recursive model update
- From experiment design to closed-loop control
- Adaptive receding horizon control for constrained MIMO systems
- Unfalsified model reference adaptive control using the ellipsoid algorithm
- Robust adaptive model predictive control: Performance and parameter estimation
- Robust adaptive model predictive control with persistent excitation conditions
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