Adaptive Control Based on Retrospective Cost Optimization

作者：Santillo Mario A; Bernstein Dennis S

来源：Journal of Guidance, Control, and Dynamics, 2010, 33(2): 289-304.

DOI：10.2514/1.46741

We present a discrete-time adaptive control law for stabilization, command-following, and disturbance rejection that is effective for systems that are unstable, multi-input/multi-output, and/or non-minimum phase. The adaptive control algorithm includes guidelines concerning the modeling information needed for implementation. This information includes the relative degree, the first nonzero Markov parameter, and the non-minimum-phase zeros. Except when the plant has non-minimum-phase zeros whose absolute value is less than the plant's spectral radius, the required zero information can be approximated by a sufficient number of Markov parameters. No additional information about the poles or zeros need be known. We present numerical examples to illustrate the algorithm's effectiveness in handling systems with errors in the required modeling data, unknown latency, sensor noise, and saturation.

• 出版日期2010-4