This paper presents a discrete-time adaptive controller, which incorporates internal model principle for asymptotic tracking performance of systems with parametric uncertainties, unmodeled dynamics and disturbances. Global stability and tracking performance of the adaptive system are derived under conditions on the system’s stabilizability and bounds of noise and unmodeled dynamics. It is shown that asymptotic tracking can be achieved while the unmodeled dynamics and disturbances exist. The adaptive algorithm is applied to an electrohydraulic servo system for periodic trajectory tracking and disturbance rejection. Experimental results based on an eighth-order adaptive system updated at 2560 Hz demonstrate the adaptive system’s ability in high bandwidth tracking performance under effects of system variations and finite word length real-time computation. [S0022-0434(00)03301-3]
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March 2000
Technical Papers
Adaptive Control With Asymptotic Tracking Performance and Its Application to an Electro-Hydraulic Servo System
Zongxuan Sun,
Zongxuan Sun
Mechanical and Industrial Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL 61801
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Tsu-Chin Tsao
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California, Los Angeles, Los Angeles, CA 90095-1597
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Zongxuan Sun
Mechanical and Industrial Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL 61801
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California, Los Angeles, Los Angeles, CA 90095-1597
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division July 21, 1997. Associate Technical Editor: R. Chandran.
J. Dyn. Sys., Meas., Control. Mar 2000, 122(1): 188-195 (8 pages)
Published Online: July 21, 1997
Article history
Received:
July 21, 1997
Citation
Sun, Z., and Tsao, T. (July 21, 1997). "Adaptive Control With Asymptotic Tracking Performance and Its Application to an Electro-Hydraulic Servo System ." ASME. J. Dyn. Sys., Meas., Control. March 2000; 122(1): 188–195. https://doi.org/10.1115/1.482441
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