Output feedback MIMO MRAC schemes with sensor uncertainty compensation

This paper addresses the problem of sensor uncertainty compensation for model reference adaptive control (MRAC) of multivariable systems. Two output feedback based MRAC schemes are developed for MIMO plants with known and unknown plant dynamics. The sensor uncertainty is modeled as parametrizable uncertain functions and a compensator is constructed to adaptively cancel the effects of sensor uncertainties, to generate an adaptive estimate of the plant output. The estimated system output is used for the feedback control law. For systems with unknown plant dynamics, a new feedback controller structure is developed, so that uncertainties of both plant and sensor measurements can be effectively compensated by adaptation. Simulation results are presented to show that the proposed MRAC scheme for unknown plant dynamics can significantly improve the tracking performance despite the sensor uncertainties.