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The cost of model reference adaptive control - Analysis, experiments, and optimizationIn this paper the performance of Model Reference Adaptive Control (MRAC) is studied in numerical simulations and verified experimentally with the objective of understanding how differences between the plant and the reference model affect the control effort. MRAC is applied analytically and experimentally to a single degree of freedom system and analytically to a MIMO system with controlled differences between the model and the plant. It is shown that the control effort is sensitive to differences between the plant and the reference model. The effects of increased damping in the reference model are considered, and it is shown that requiring the controller to provide increased damping actually decreases the required control effort when differences between the plant and reference model exist. This result is useful because one of the first attempts to counteract the increased control effort due to differences between the plant and reference model might be to require less damping, however, this would actually increase the control effort. Optimization of weighting matrices is shown to help reduce the increase in required control effort. However, it was found that eventually the optimization resulted in a design that required an extremely high sampling rate for successful realization.
Document ID
19930050186
Document Type
Conference Paper
Authors
Messer, R. S. (NASA Langley Research Center Hampton, VA, United States)
Haftka, R. T. (NASA Langley Research Center Hampton, VA, United States)
Cudney, H. H. (Virginia Polytechnic Inst. and State Univ. Blacksburg, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publication: In: AIAA(ASME)ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 34th and AIAA/ASME Adaptive Structures Forum, La Jolla, CA, Apr. 19-22, 1993, Technical Papers. Pt. 6 (A93-33876 1
Subject Category
CYBERNETICS
Report/Patent Number
AIAA PAPER 93-1658
Funding Number(s)
CONTRACT_GRANT: NAG1-224
Distribution Limits
Public
Copyright
Other

Related Records

IDRelationTitle19930049879Analytic PrimaryAIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 34th and AIAA/ASME Adaptive Structures Forum, La Jolla, CA, Apr. 19-22, 1993, Technical Papers. Pts. 1-6