Desired Compensation Adaptive Robust Control
- 21 October 2009
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 131 (6), 061001
- https://doi.org/10.1115/1.3211087
Abstract
A desired compensation adaptive robust control (DCARC) framework is presented for nonlinear systems having both parametric uncertainties and uncertain nonlinearities. The paper first considers a class of higher order nonlinear systems transformable to a normal form with matched model uncertainties. For this class of uncertain systems, the desired values of all states for tracking a known desired trajectory can be predetermined and the usual desired compensation concept can be used to synthesize DCARC laws. The paper then focuses on systems with unmatched model uncertainties, in which the desired values of the intermediate state variables for perfect output tracking of a known desired trajectory cannot be predetermined. A novel way of formulating desired compensation concept is proposed and a DCARC backstepping design is developed to overcome the design difficulties associated with unmatched model uncertainties. The proposed DCARC framework has the unique feature that the adaptive model compensation and the regressor depend on the reference output trajectory and on-line parameter estimates only. Such a structure has several implementation advantages. First, the adaptive model compensation is always bounded when projection type adaption law is used, and thus does not affect the closed-loop system stability. As a result, the interaction between the parameter adaptation and the robust control law is reduced, which may facilitate the controller gain tuning process considerably. Second, the effect of measurement noise on the adaptive model compensation and on the parameter adaptation law is minimized. Consequently, a faster adaptation rate can be chosen in implementation to speed up the transient response and to improve overall tracking performance. These claims have been verified in the comparative experimental studies of several applications.Keywords
This publication has 18 references indexed in Scilit:
- Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experimentsIEEE/ASME Transactions on Mechatronics, 2001
- Adaptive robust motion control of single-rod hydraulic actuators: theory and experimentsIEEE/ASME Transactions on Mechatronics, 2000
- Multiple Sliding Surface Control: Theory and ApplicationJournal of Dynamic Systems, Measurement, and Control, 2000
- Robustness of Adaptive Nonlinear Control to Bounded UncertaintiesAutomatica, 1998
- Adaptive Backstepping with Parameter Projection: Robustness and Asymptotic PerformanceAutomatica, 1998
- High-performance robust motion control of machine tools: an adaptive robust control approach and comparative experimentsIEEE/ASME Transactions on Mechatronics, 1997
- Smooth Robust Adaptive Sliding Mode Control of Manipulators With Guaranteed Transient PerformanceJournal of Dynamic Systems, Measurement, and Control, 1996
- Adaptive Control of Robot Manipulators in Constrained Motion—Controller DesignJournal of Dynamic Systems, Measurement, and Control, 1995
- Robust Control of Generalized Dynamic Systems Without the Matching ConditionsJournal of Dynamic Systems, Measurement, and Control, 1991
- Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systemsIEEE Transactions on Automatic Control, 1981