2020/10/30 by Karst Brummelhuis, Niranjan Saikumar, Brummelhuis, Karst +5
Engineering · #Adaptive Control of Nonlinear Systems #Control Systems in Engineering #FOS: Computer and information sciences #FOS: Electrical engineering #Iterative Learning Control Systems #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2010.16189
openalex publication_date 2020/10/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents a novel adaptive feedforward controller design for reset\ncontrol systems. The combination of feedforward and reset feedback control\npromises high performance as the feedforward guarantees reference tracking,\nwhile the non-linear feedback element rejects disturbances. To overcome\ninevitable model mismatches, the feedforward controller adapts to increase\nprecision in reference tracking. Where linear existing adaptive feedforward\ncontrollers do not guarantee convergence in the presence of reset, this work\npresents a novel adaptive law based on converging and diverging regions of\nadaptation to achieve good tracking. Experimental results demonstrate the\nclaimed advantage of the novel method.\n