Multivariable Binary MRAC with Guaranteed Transient Performance Using Non-homogeneous Robust Exact Differentiators

Journal of control, automation and electrical systems

article

Battistel, Andrei¹  Vidal, Paulo V. N. M.²  Nunes, Eduardo V. L.²  Hsu, Liu² 

[1] Department of Electronics and Telecommunication Engineering, State University of Rio de Janeiro (UERJ);Department of Electrical Engineering, COPPE/Federal University of Rio de Janeiro

关键词: Multivariable adaptive control;    Global exact tracking;    Higher-order sliding modes;    Arbitrary relative degree;    Output feedback;    Uncertain systems;    Binary adaptive control;   

DOI  :  10.1007/s40313-020-00680-y

学科分类：自动化工程

来源: Springer

【 摘 要 】

In this paper, we propose an extension of the binary model reference adaptive control (BMRAC) for uncertain multivariable linear plants with non-uniform arbitrary relative degree. The BMRAC is a robust adaptive strategy which has good transient properties and robustness of sliding mode control with the important advantage of having a continuous control signal free of chattering. The relative degree obstacle is circumvented using a multivariable version of a hybrid estimation scheme, named global robust exact differentiator (GRED). The hybrid estimator switches between robust exact differentiators (RED) based on higher-order sliding modes and lead filters in a way that the exact derivatives are globally obtained in finite time. To improve the robustness and the transient performance of the GRED, we propose a modification of the switching scheme replacing the conventional RED with a non-homogeneous one. Global exact output tracking is obtained with robustness and guaranteed transient performance without requiring stringent symmetry assumptions on the plant high-frequency-gain matrix.

【 授权许可】

CC BY