A DESIGN METHOD OF ADAPTIVE CONTROLLER BASED ON ROBUST DYNAMIC CERTAINTY EQUIVALENCE
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- Ohmori Hiromitsu
- Department of Electrical Engineering, Keio University
説明
In this paper we design a robust model reference adaptive control (RMRAC) scheme for the single input, single output, continuous time LTI plants of arbitrary relative degree in the presence of unknown deterministic disturbances and unmodeled dynamics. The design is based on robust dynamic certainty equivalence (R-DyCE) which is from the key idea of Morse's DyCE adaptive controller[3]. There arc two main feature of the proposed RMRAC scheme:(1) the use of a fixed compensator in the error feedback loop to attenuate the effect of disturbances on the tracking error and to achieve robust stability in the presence of unmodeled dynamics, and (2) the use of a high-order estimator with σ-modification to ensure the global stability of the adaptive system.
収録刊行物
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- Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications
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Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications 1998 (0), 229-234, 1998-05-05
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詳細情報 詳細情報について
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- CRID
- 1390001288033730944
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- NII論文ID
- 130007376691
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- ISSN
- 21884749
- 21884730
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可
