A robust finite-time model reference adaptive controller for arbitrary order disturbed LTI systems.
ISA Trans
; 144: 319-329, 2024 Jan.
Article
em En
| MEDLINE
| ID: mdl-37977884
ABSTRACT
This manuscript deals with the trajectory-tracking problem for linear time-invariant systems with parameter uncertainties and time-dependent external perturbations. A robust finite-time model reference adaptive controller is proposed. In the absence of external perturbations, the proposed controller ensures finite-time convergence to zero of the tracking and parameter identification errors. In presence of time-dependent external perturbations, the tracking and parameter identification errors converge to a region around the origin in a finite time. The convergence proofs are developed based on Lyapunov and input-to-state stability theory. Finally, simulation results in an academic example and a flexible-joint robot manipulator show the feasibility of the proposed approach.
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MEDLINE
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En
Ano de publicação:
2024
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Article