Improvement of plant performance using Closed loop Reference Model Simple Adaptive Control for Micro Air Vehicle

TL;DR

This paper enhances the transient performance of Simple Adaptive Control for Micro Air Vehicles by integrating a closed loop reference model driven by output feedback, validated through simulations.

Contribution

It introduces a novel closed loop reference model approach to improve adaptive control performance without increasing control effort.

Findings

Improved transient response in simulations

Enhanced control performance without higher gains

Validated effectiveness through Micro Air Vehicle lateral dynamics

Abstract

In this paper, we present a novel idea to improve the transient performance of the existing Simple Adaptive Control architecture, without requiring high adaptation gains. Improvement in performance is achieved by incorporating the closed loop reference model based on the output feedback to the Simple Adaptive Control architecture. In this proposed scheme, the reference model dynamics is driven by the desired command as well as the error signal between the plant output and the reference model output. It is shown that the modified control architecture improves the system performance without any additional control efforts, which is then validated through simulations of the lateral model dynamics of Micro Air Vehicle.