| Autor: |
Thoma, M., Tzafestas, S. G., Schmidt, G., Arvanitis, K. G., Kalogeropoulos, G. |
| Zdroj: |
Progress in System & Robot Analysis & Control Design; 1999, p159-170, 12p |
| Abstrakt: |
A new indirect adaptive scheme has been derived for adaptive LQ optimal tracking of continuous-time linear time-invariant single-input, single-output systems using multirate-output controllers. Using the proposed technique, the adaptive LQ optimal tracking problem is reduced to the determination of a fictitious static state feedbak controller, due to the merits of multirate-output controllers. Known tehniques do not have this flexibility and they resort to the direct computation of full order state observers. Moreover, the exogenous dynamics introduced in the control loop by MROCs, is of low order. Finally, persistency of excitation of the plant under control and hence parameter convergence, is provided, without making any assumption on the existence of special convex sets in which the estimated parameters belong or on the coprimeness of the polynomials describing the ARMA model, as compared to known adaptive LQ optimal control schemes. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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