Journal of control, automation and electrical systems | |
Multivariable Binary MRAC with Guaranteed Transient Performance Using Non-homogeneous Robust Exact Differentiators | |
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
【 预 览 】
Files | Size | Format | View |
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RO202108090001262ZK.pdf | 856KB | download |