John L. Junkins1, Kamesh Subbarao2, Ajay Verma3
CMES-Computer Modeling in Engineering & Sciences, Vol.1, No.4, pp. 99-118, 2000, DOI:10.3970/cmes.2000.001.551
Abstract Model reference adaptive control formulations are presented that rigorously impose the dynamical structure of the state space descriptions of several distinct large classes of dynamical systems. Of particular interest, the formulations enable the imposition of exact kinematic differential equation constraints upon the adaptation process that compensates for model errors and disturbances at the acceleration level. Other adaptive control formulations are tailored for redundantly actuated and constrained dynamical systems. The utility of the resulting structured adaptive control formulations is studied by considering examples from nonlinear oscillations, aircraft control, spacecraft control, and cooperative robotic system control. The More >