Low-pass adaptive/neural controller device and method with improved transient performance
OwnerChengyu Cao, Naira Hovakimyaninventors
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Abstract
A novel 1 adaptive/neural control architecture provides a device and method that permits fast adaptation and yields guaranteed transient response simultaneously for both the system's input and output signals, in addition to providing asymptotic tracking. The main feature of the invention is rapid adaptation with a guaranteed low frequency control signal. The ability to adapt rapidly ensures the desired transient performance for both the system's input and output signals, simultaneously, while a low-pass filter in the feedback loop attenuates the high-frequency components in the control signal.
Claims12
A low-pass adaptive/neural controller for a dynamic system, comprising:
- a reference input for the dynamic system, the dynamic system being described by a dynamic model subject to time-varying unknown parameters and an unknown time-varying disturbance, there being a measured output of the dynamic system;
- a companion model, described by the dynamic model, adaptive estimates being substituted in the dynamic model for the time-varying unknown parameters and the unknown time-varying disturbance, there being a computed output for the companion model;
- and
- means for generating a control signal to be applied to the dynamic system and the companion model so that the measured output tracks the reference input, said generating means having a low-pass filter to attenuate high frequency components in the control signal;
- wherein said low-pass filter is a stable transfer function and is applied by said generating means so that both the control signal and a tracking error difference between the measured output and the reference input achieve a target stability and desired performance asymptotically within a transient period.
A method for adaptively controlling a dynamic system, comprising:
- defining an error signal between a measured output of the dynamic system and a computed output of a companion model, the dynamic system being described by a dynamic model subject to time-varying unknown parameters and an unknown time-varying disturbance, adaptive estimates for the unknown parameters and the unknown disturbance being substituted in the companion model to produce the computed output;
- generating a control signal with a low-pass filter to attenuate high frequency components in the control signal;
- and
- applying the control signal to the dynamic system and the companion model so that the measured output tracks a reference input,
- wherein said low-pass filter is a stable transfer function and is applied by said generating means so that both the control signal and a tracking error difference between the measured output and the reference input achieve a target stability and desired performance asymptotically within a transient period.
Dependencies are inferred from the claim text.