Model-Free Adaptive Control based on Modified Full-Form-Dynamic-Linearization

TL;DR

This paper introduces a modified full-form dynamic linearization approach for model-free adaptive control (MFAC), making the method more understandable and applicable to linear systems with disturbances, supported by stability analysis and simulations.

Contribution

It extends MFAC with a modified equivalent-dynamic-linearization model that includes disturbances and provides a new stability proof method.

Findings

Enhanced understanding of MFAC in linear systems

Inclusion of stochastic and measured disturbances in the model

Validated effectiveness through simulated examples

Abstract

Current model-free adaptive control (MFAC) method has no been analysed in linear system and is not straightforward for the practical engineers to understand accurately. This correspondence presents a family of MFAC based on a modified equivalent-dynamic-linearization model (EDLM), which facilitates to show the working principle of method more directly and objectively. Compared to the current work, i) the researches on MFAC focus on linear model, which is easy to understand its working behaviour; ii) the full-form EDLM is extended with unmeasured stochastic and measured disturbance, respectively. Then the controllers is modified correspondingly; iii) the stability analysis of system cannot be proved by current contraction mapping technique when the sign of leading coefficient of control input changes, therefore we prove it by analysing the function of the closed-loop poles. Several simulated examples are used to show the principles of this kind of method.