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Discrete-Time Model-Reference Adaptive ControlPaper discusses stability of digital model-reference adaptive control (MRAC) of robotic system or plant that operates at discrete time steps. Command-generator tracker (CGT) concept, originally proposed for continuous-time systems, is applied in discrete-time setting, enabling relaxation of some restrictive assumptions that guarantee stability of system controlled according to resulting algorithm. Likely applications include systems in which sensors and actuators not placed together.
Document ID
19890000115
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Wen, John T.
(Caltech)
Meldrum, Deirdre R.
(Caltech)
Balas, Mark J.
(Rensselaer Polytechnic Inst.)
Date Acquired
August 14, 2013
Publication Date
March 1, 1989
Publication Information
Publication: NASA Tech Briefs
Volume: 13
Issue: 3
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-17062
Accession Number
89B10115
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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