State dependent riccati equation based model reference adaptive control design for nonlinear systems

Author

Babaei, Naser ; Salamci, Metin U.

Author_Institution

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

fYear

2013

fDate

Oct. 30 2013-Nov. 1 2013

Firstpage

1

Lastpage

8

Abstract

A new model reference adaptive control (MRAC) algorithm is presented for a class of nonlinear systems. The proposed MRAC method uses a nonlinear reference model whose controller is designed by using the so-called State Dependent Riccati Equation (SDRE) techniques. The controller designed for the nonlinear reference model is then adapted for the (presumably unknown or uncertain) nonlinear plant dynamics, again by using the SDRE methodology. The proposed methodology is exemplified by using the simulation model of an inverted pendulum, showing the effectiveness of SDRE-based MRAC for nonlinear systems.

Keywords

Riccati equations; control system synthesis; model reference adaptive control systems; nonlinear control systems; pendulums; uncertain systems; MRAC algorithm; SDRE techniques; SDRE-based MRAC; controller design; inverted pendulum; model reference adaptive control algorithm; nonlinear reference model; nonlinear systems; simulation model; state dependent Riccati equation based model reference adaptive control design; state dependent Riccati equation techniques; uncertain nonlinear plant dynamics; Adaptation models; Adaptive control; Algorithm design and analysis; Equations; Mathematical model; Nonlinear dynamical systems; Model Reference Adaptive Control; Nonlinear Systems; Robust Control; SDRE;

fLanguage

English

Publisher

ieee

Conference_Titel

Information, Communication and Automation Technologies (ICAT), 2013 XXIV International Symposium on

Conference_Location

Sarajevo

Type

conf

DOI

10.1109/ICAT.2013.6684058

Filename

6684058