Adaptive control for uncertain nonlinear multi-input multi-output systems
AssigneesThe Board of Trustees of the University of Illionois, University of Connecticut
InventorsChengyu Cao, Naira Hovakimyan, Enric Xargay
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Abstract
Systems and methods of adaptive control for uncertain nonlinear multi-input multi-output systems in the presence of significant unmatched uncertainty with assured performance are provided. The need for gain-scheduling is eliminated through the use of bandwidth-limited (low-pass) filtering in the control channel, which appropriately attenuates the high frequencies typically appearing in fast adaptation situations and preserves the robustness margins in the presence of fast adaptation.
Claims19
A method of adaptive control for an uncertain nonlinear multi-input multi-output system, the method comprising:
- providing a processor operable to execute a control law residing in a memory, the control law including a bandwidth-limited filter configuration, the control law configured to generate a control signal uc as an output of the bandwidth-limited filter configuration;
- measuring a system state signal x;
- generating a prediction of the system state {circumflex over (x)};
- subtracting the prediction of the system state {circumflex over (x)} from the measured system state signal x, and producing an error signal {tilde over (x)};
- generating estimates of uncertainties in the multi-input multi-output system;
- and
- generating the control signal uc as an output of the bandwidth-limited filter configuration based on the generated estimates of uncertainties and the measured system state x.
An adaptive control system for controlling a nonlinear multi-input multi-output system with uncertainties, the adaptive control system comprising:
- a fast estimation scheme, the fast estimation scheme including a state predictor and an adaptive law, the fast estimation scheme configured to generate estimates of the uncertainties in the multi-input multi-output system;
- and
- a control law, the control law including a bandwidth-limited filter configuration, the control law configured to generate a control signal uc as an output of the bandwidth-limited filter configuration.
An adaptive control system comprising:
- a processor operable to execute a control law residing in a memory, the control law including a bandwidth-limited filter configuration, the control law configured to generate a control signal uc as an output of the bandwidth-limited filter configuration;
- and
- a state predictor configured to generate a prediction of a nonlinear multi-input multi-output system state {circumflex over (x)}, such that when the system state {circumflex over (x)} is subtracted from an actual system state x, an error signal is produced that, together with the actual system state x and the control signal uc, drives an adaptation process.
Dependencies are inferred from the claim text.