Model Reference Adaptive Control for MIMO nonlinear systems by using linear time varying approximation

Author

Babaei, Naser ; Salamci, Metin U.

Author_Institution

Dept. of Mech. Eng., Gazi Univ., Ankara, Turkey

fYear

2015

fDate

27-30 May 2015

Firstpage

7

Lastpage

12

Abstract

A new approach to design Model Reference Adaptive Control (MRAC) for Multi Input Multi Output (MIMO) nonlinear systems is presented. First a nonlinear reference model system is considered whose nonlinear dynamics is controlled by optimal control using Successive Approximation Approach (SAA). In the second step, nonlinear plant dynamics which may have uncertain parameters or unmodeled dynamics is controlled by using MRAC based on recursive approximations of reference model at each iteration. A two-link manipulator model is used to demonstrate the efficiency of the proposed method.

Keywords

MIMO systems; approximation theory; linear systems; manipulators; model reference adaptive control systems; nonlinear dynamical systems; optimal control; time-varying systems; uncertain systems; MIMO nonlinear systems; MRAC; SAA; linear time varying approximation; model reference adaptive control; multiinput multioutput nonlinear systems; nonlinear dynamics; nonlinear plant dynamics; nonlinear reference model system; optimal control; recursive approximations; successive approximation approach; two-link manipulator model; uncertain parameters; unmodeled dynamics; Adaptation models; Approximation methods; DH-HEMTs; Model Reference Adaptive Control; Nonlinear Systems; Optimal Control; Successive Approximation Approach;

fLanguage

English

Publisher

ieee

Conference_Titel

Carpathian Control Conference (ICCC), 2015 16th International

Conference_Location

Szilvasvarad

Print_ISBN

978-1-4799-7369-9

Type

conf

DOI

10.1109/CarpathianCC.2015.7145035

Filename

7145035