Multivariable Binary MRAC with Guaranteed Transient Performance Using Non-homogeneous Robust Exact Differentiators
Journal of Control, Automation and Electrical Systems(2021)
Abstract
In this paper, we propose an extension of the binary model reference adaptive control (BMRAC) for uncertain multivariable linear plants with non-uniform arbitrary relative degree. The BMRAC is a robust adaptive strategy which has good transient properties and robustness of sliding mode control with the important advantage of having a continuous control signal free of chattering. The relative degree obstacle is circumvented using a multivariable version of a hybrid estimation scheme, named global robust exact differentiator (GRED). The hybrid estimator switches between robust exact differentiators (RED) based on higher-order sliding modes and lead filters in a way that the exact derivatives are globally obtained in finite time. To improve the robustness and the transient performance of the GRED, we propose a modification of the switching scheme replacing the conventional RED with a non-homogeneous one. Global exact output tracking is obtained with robustness and guaranteed transient performance without requiring stringent symmetry assumptions on the plant high-frequency-gain matrix.
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Key words
Multivariable adaptive control,Global exact tracking,Higher-order sliding modes,Arbitrary relative degree,Output feedback,Uncertain systems,Binary adaptive control
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