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Switching Control System Based on Robust Model Reference Adaptive Control

HU Qiong 1,FEI Qing2 ,MA Hongbin 2, WU Qinghe2 , GENG Qingbo3   

  1. 1.School of Automation, Beijing Institute of Technology, Beijing 100081, China; Shanghai Institute of Optics and Fine Mechanics, Chinese Academy of Sciences, Shanghai 201800, China.;2.School of Automation, Beijing Institute of Technology, Beijing 100081, China; State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institution of Technology, Beijing 100081, China.;3.School of Automation, Beijing Institute of Technology, Beijing 100081, China.
  • Online:2016-08-25 Published:2016-08-24

HU Qiong,FEI Qing,MA Hongbin,WU Qinghe,GENG Qingbo. Switching Control System Based on Robust Model Reference Adaptive Control[J]. Journal of Systems Science and Complexity, 2016, 29(4): 897-932.

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control (RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

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