Systems and methods for parameter dependent riccati equation approaches to adaptive control

摘要

Systems and methods for adaptive control are disclosed. The systems and methods can control uncertain dynamic systems. The control system can comprise a controller that employs a parameter dependent Riccati equation. The controller can produce a response that causes the state of the system to remain bounded. The control system can control both minimum phase and non-minimum phase systems. The control system can augment an existing, non-adaptive control design without modifying the gains employed in that design. The control system can also avoid the use of high gains in both the observer design and the adaptive control law.

主权项

1. An adaptive control system for controlling a plant, the adaptive control system comprising:
a state observer configured to receive a sensed quantity from the plant, the state observer further configured to output a state estimate based at least in part on the sensed quantity; and a controller configured to receive the state estimate and employ the state estimate in an adaptive control law to calculate an adaptive control, the adaptive control law based at least in part on a weight estimate, the controller further configured to produce a control command that is an input to the plant; wherein at least a component of the control command is the adaptive control; and wherein the weight estimate is based at least in part on a parameter of a parameter dependent Riccati equation, the value of the parameter being selectable, and the parameter dependent Riccati equation having a positive definite solution for the selected value of the parameter.