Multiple-Model Adaptive Control With Set-Valued Observers

Details Multiple-Model Adaptive Control With Set-Valued Observers Multiple-Model Adaptive Control With Set-Valued Observers

2009-09-07

arxiv.org/abs/0909.1293v2

Mathematics

Optimization and Control

Combined 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, 2009

Scientific paper

This paper proposes a multiple-model adaptive control methodology, using set-valued observers (MMAC-SVO) for the identification subsystem, that is able to provide robust stability and performance guarantees for the closed-loop, when the plant, which can be open-loop stable or unstable, has significant parametric uncertainty. We illustrate, with an example, how set-valued observers (SVOs) can be used to select regions of uncertainty for the parameters of the plant. We also discuss some of the most problematic computational shortcomings and numerical issues that arise from the use of this kind of robust estimation methods. The behavior of the proposed control algorithm is demonstrated in simulation.

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