Title :
Cumulative retrospective cost adaptive control of systems with amplitude and rate saturation
Author :
Coffer, B.J. ; Hoagg, J.B. ; Bernstein, D.S.
Author_Institution :
Dept. of Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA
fDate :
June 29 2011-July 1 2011
Abstract :
We demonstrate that the retrospective cost adaptive control algorithm can improve the tracking error when following square-wave and triangle-wave commands in the presence of amplitude and rate saturation, respectively, provided that the saturation level is known. Specifically, the retrospective cost adaptive control algorithm does not experience integrator windup, which is a common problem under amplitude and rate saturation for fixed-gain controllers with integral action.
Keywords :
actuators; adaptive control; amplitude saturation; cumulative retrospective cost adaptive control; fixed gain controllers; integrator windup; rate saturation; square wave commands; tracking error; triangle wave commands; Adaptive control; History; Pi control; Polynomials; Solids; Steady-state; Windup;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991456
