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- W2326490666 abstract "Model Reference Adaptive Control systems have been receiving a lot of interest in the controls community because they offer the ability to handle larger amounts of uncertainty than linear control approaches. In theory, one usually wants the adaptive control law to adapt as fast a possible to obtain the best performance. However, this can inject high frequency signals into the control channels. These high frequency signals can destabilize unmodeled dynamics and exceed actuator performance limits. Experience suggests that inserting a filter in the control loop can attenuate these effects and this has recently been explored quite a bit in the literature by using the small-gain theorem to prove stability. It is well known that the small-gain theorem leads to conservative results. This paper is part of a two part series of papers that present a completely new theoretical framework for analyzing a filtered adaptive control signal using quadratic stability arguments. The results developed in this paper give a theoretical foundation for efficient numerical algorithms that can be used to determine the minimum filter bandwidths required for stability. Comparisons with existing results illustrate that the new framework is potentially much less conservative." @default.
- W2326490666 created "2016-06-24" @default.
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- W2326490666 date "2014-01-10" @default.
- W2326490666 modified "2023-10-01" @default.
- W2326490666 title "Frequency Limited Adaptive Control Using a Quadratic Stability Framework: Guaranteed Stability Limits" @default.
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- W2326490666 doi "https://doi.org/10.2514/6.2014-0783" @default.
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