Adaptive tracking control by system inversion

Author

Sun, Zongxuan ; Tsao, Tsu-Chin

Author_Institution

Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA

Volume

1

fYear

1999

fDate

1999

Firstpage

29

Abstract

This paper presents a discrete time adaptive inversion scheme for linear systems and its usage in adaptive feedforward and feedback controllers. Two parameter adaptation algorithms (PAA) were used in the proposed schemes. The first PAA applies the extended bias-eliminating least-squares (EBELS) algorithm for plant estimation to ensure convergence to a tuned model under colored noise and unmodeled dynamics. The second PAA applies EBELS or least mean squares (LMS), respectively for two adaptive inversion schemes, to estimate a finite impulse response (FIR) plant inverse filter. A feedforward and a repetitive feedback control algorithms are designed respectively by including the adaptive inverse filter

Keywords

FIR filters; adaptive control; adaptive filters; control system synthesis; convergence; discrete time systems; feedback; feedforward; filtering theory; identification; least squares approximations; linear systems; tracking; EBELS algorithm; FIR filter; LMS; LSA; PAA; adaptive feedback controller; adaptive feedforward controller; adaptive inverse filter; adaptive tracking control; colored noise; control algorithms design; convergence; discrete time adaptive inversion scheme; extended bias-eliminating least-squares algorithm; finite impulse response plant inverse filter; least mean squares; parameter adaptation algorithms; repetitive feedback control; system inversion; unmodeled dynamics; Adaptive control; Adaptive filters; Colored noise; Control systems; Convergence; Feedback control; Finite impulse response filter; Least squares approximation; Linear systems; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.782734

Filename

782734