Adaptive Output Tracking Control with Reference Model System Uncertainties

TL;DR

This paper introduces adaptive output tracking control schemes that handle uncertainties in the reference system, ensuring stability and asymptotic tracking without needing the reference system transfer function.

Contribution

It develops a new MRAC scheme with an expanded adaptive controller that estimates the reference input, overcoming limitations of traditional MRAC methods.

Findings

Ensures stable parameter adaptation

Achieves asymptotic output tracking

Handles unknown reference system dynamics

Abstract

This paper develops adaptive output tracking control schemes with the reference output signal generated from an unknown reference system whose output derivatives are also unknown. To deal with such reference system uncertainties, an expanded adaptive controller structure is developed to include a parametrized estimator of the equivalent reference input signal. Without using the knowledge of the reference system transfer function and equivalent input, both are the critical components of a traditional model reference adaptive control (MRAC) scheme, the developed new MRAC schemes designed for various cases plant and reference model uncertainties, ensure completely parametrized error systems and stable parameter adaptation, leading to the desired closed-loop system stability and asymptotic output tracking.