DIRECTLY COMPUTABLE L(2) AND L-INFINITY PERFORMANCE BOUNDS FOR MORSES DYNAMIC CERTAINTY EQUIVALENCE ADAPTIVE CONTROLLER Academic Article uri icon

abstract

  • AbstractIn this paper we consider a model reference adaptive control scheme where the classical error augmentation and standard tuning error normalization are avoided through the use of Morse's highorder tuner. We consider the particular scheme of Morse where the concept of dynamic certainty equivalence is used to reduce the error equation to one that involves only firstorder dynamics. With such an error equation, it is first shown that one can directly obtain computable L and L bounds on the tracking error. This is an improvement over some earlier results where either only local L bounds were obtained or the calculation of the global bounds required additional computation. Second, inserting an adaptive gain into Morse's highorder tuner, we show that fast adaptation improves both the L2 and L bounds on the tracking error, in the sense that the effect of the parametric uncertainty on these bounds is attenuated. Finally, using a simple example, we demonstrate how an earlier attempt to use the adaptive gain to simultaneously attenuate the effect of the parametric uncertainty as well as the initial conditions on the L2 bound for the tracking error has led to an incorrect result.

published proceedings

  • INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING

author list (cited authors)

  • DATTA, A., & IOANNOU, P. A.

citation count

  • 3

complete list of authors

  • DATTA, A||IOANNOU, PA

publication date

  • September 1995

publisher