2025/03/11 by Ying-Chun Chen, Chen, Ying-Chun, Craig A. Woolsey +1
Engineering · Earth and Planetary Sciences · Computer Science · #Aerospace Engineering and Control Systems #Aquatic and Environmental Studies #Mathematical Control Systems and Analysis
paper · pdf · doi:10.48550/arxiv.2503.07971
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying unstructured portion. The former is addressed using conventional model reference adaptive control. The latter is handled using disturbance observer-based control. The objective is to ensure good performance through observer-based disturbance rejection when possible, while preserving the robustness guarantees of adaptive control. A key feature of the observer-based disturbance compensation is a magnitude and rate limit on the integral action that prevents fast fluctuations in the control command due to the observer dynamics.