University of Cambridge > > CUED Control Group Seminars > Accommodating magnitude and rate-limits in model reference adaptive control systems

Accommodating magnitude and rate-limits in model reference adaptive control systems

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If you have a question about this talk, please contact Fulvio Forni.

Model reference adaptive control has become a popular approach for adaptive controller design and has recently shown some success in the aerospace industry where it continues to attract attention. However, getting adaptive control systems to work on real systems is generally difficult and various “tricks” are typically used. These tricks rely a lot on engineering judgement. Along with all control systems, one obstacle to effective adaptive controller implementation are the inevitable magnitude and rate limits present on the control system. These are particularly pernicious in adaptive control systems because they lead not only to standard “windup” like effects but also corrupt the adaptation law. In this talk, anti-windup-like remedies will be proposed for adaptive controllers and it will be shown that, under reasonable assumptions on the underlying systems and references these remedies enable i) stability of the overall closed-loop to be maintained and ii) the performance of constrained MRAC systems to, in a sense, approach those of unconstrained MRAC systems.

The seminar will be held in JDB Seminar Room, Department of Engineering, and online (zoom):

This talk is part of the CUED Control Group Seminars series.

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