2020/11/11 by Shuvrangshu Jana, Jana, Shuvrangshu, M. Seetharama Bhat +1
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Adaptive Dynamic Programming Control #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2011.05924
openalex publication_date 2020/11/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we present a novel idea to improve the transient performance of the existing Simple Adaptive Control architecture, without requiring high adaptation gains. Improvement in performance is achieved by incorporating the closed loop reference model based on the output feedback to the Simple Adaptive Control architecture. In this proposed scheme, the reference model dynamics is driven by the desired command as well as the error signal between the plant output and the reference model output. It is shown that the modified control architecture improves the system performance without any additional control efforts, which is then validated through simulations of the lateral model dynamics of Micro Air Vehicle.