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• W99031586 abstract "Abstract The technique of model Reference Adaptive Systems (MRAS) is applicable for direct adaptation of the parameters of a controller as well as for identification and state estimation. Originally the algorithms were mainly in continuous form, but presently digital implementation is common. Discrete MRAS can be designed from two different points of view. When the sampling interval is small enough the contiuous time equations can easily be transformed to discrete equations. Deriving the discrete algorithms directly leads to totally different structures. A combination of the algorithms which are found by these two approaches yields adaptive laws with improved convergence This paper describes the consequences of application of MRAS in practice. As a typical test case an adaptive autopilot for course control of ships has been designed. It is shown how to deal with certain types of non-linearities in the process dynamics and the hydraulic actuators. Without special precautions the performance of MRAS in a noisy environment is bad. Several solutions are suggested, which can easily be implemented in a digital computer The resulting adaptive control system has been tested during full scale trials with various ships" @default.
• W99031586 created "2016-06-24" @default.
• W99031586 creator A5009518694 @default.
• W99031586 date "1980-01-01" @default.
• W99031586 modified "2023-09-25" @default.
• W99031586 title "Digital Model Reference Adaptive Control with Applications to Shipʼs Steering" @default.
• W99031586 cites W2014556244 @default.
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• W99031586 doi "https://doi.org/10.1016/s1474-6670(17)64576-2" @default.
• W99031586 hasPublicationYear "1980" @default.
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