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Nominal optimal controller with enhanced performance via adaptive‐ Q feedback
Author(s) -
Giarré L.
Publication year - 1996
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/(sici)1099-1115(199611)10:6<635::aid-acs403>3.0.co;2-q
Subject(s) - control theory (sociology) , convergence (economics) , controller (irrigation) , adaptive control , computer science , tracking (education) , line (geometry) , matrix (chemical analysis) , transfer matrix , adaptation (eye) , mathematics , mathematical optimization , control (management) , artificial intelligence , psychology , pedagogy , materials science , geometry , optics , physics , agronomy , economics , composite material , computer vision , biology , economic growth
A self‐tuning of the Q ‐parameterization transfer matrix is presented in order to combine off‐line nominal optimal control with on‐line adaptation. A direct predictive adaptive algorithm is used in a 2DOF version to cope also with tracking problems. The algorithm is derived by solving a suitably receding horizon problem and a local convergence analysis is carried out. Simulations for both regulation and tracking problems are presented.