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Comparison and extension of a direct model reference adaptive control procedureThis paper analyzes and extends an easily implemented direct model reference adaptive control procedure. The paper focuses on the major limitation of this control approach which is the satisfaction of a strictly positive real sufficiency condition in order to guarantee asymptotic tracking. Attempts, to date, to address this problem have been unable to relax simultaneously the stringent condition and maintain asymptotic tracking capabilities. Three different modifications to existing versions of this algorithm are presented which substantially relax the stringent sufficiency condition while providing asymptotic tracking. These three modifications achieve this goal by imposing slight adjustments to existing sufficiency conditions. A simulation example demonstrates that the modifications eliminate the steady error inherent in the existing methods.
Document ID
19920052165
Document Type
Reprint (Version printed in journal)
Authors
Neat, Gregory W. (JPL Pasadena, CA, United States)
Kaufman, Howard (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Steinvorth, Rodrigo (Rensselaer Polytechnic Institute, Troy, NY, United States)
Date Acquired
August 15, 2013
Publication Date
April 1, 1992
Publication Information
Publication: International Journal of Control
Volume: 55
ISSN: 0020-7179
Subject Category
CYBERNETICS
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
Distribution Limits
Public
Copyright
Other