Replacement of Lyapunov's direct method in model reference adaptive control with robust fixed point transformations

Authors:
József K. Tar;János F. Bitó;Imre J. Rudas
Affiliations:
Transportation Informatics and Telematics, University Knowledge Center, Óbuda University, Budapest, Hungary;Institute of Intellligent Engineering Systems, John von Neumann Faculty of Informatics, Óbuda University, Budapest, Hungary;Institute of Intellligent Engineering Systems, John von Neumann Faculty of Informatics, Óbuda University, Budapest, Hungary
Venue:
INES'10 Proceedings of the 14th international conference on Intelligent engineering systems
Year:
2010

Citing 3
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Improvements of the adaptive Slotine & Li controller: comparative analysis with solutions using local robust fixed point transformations

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Abstract

The "Model Reference Adaptive Control (MRAC)" is a popular and efficient controller that normally is designed by the use of Lyapunov's 2nd ("direct") method guaranteeing global asymptotic stability. However, the use of Lyapunov function can entail a relatively complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative background, the application of "Robust Fixed Point Transformations (RFPT)" working with local basin of attraction of convergence is recommended to simplify this task. As a potential application example the adaptive control of an "Electrostatic Micro-actuator (EµA)" is considered that contains considerable non-linearities. The conclusions of the paper are substantiated by simulation results.