This paper addresses the discrete-time adaptive control design which incorporates internal model principle for asymptotic tracking performance of systems with parametric uncertainties, unmodeled dynamics and noise. The indirect adaptive control system applies projection or least squares parameter adaptation algorithm with dead zone, and frozen time stabilizing control. The global stability of the system is ensured under certain assumptions. The adaptive algorithm is applied to an electrohydraulic servo with periodic disturbances and reference trajectory. A frozen time stabilizing repetitive control is applied in parallel to the parameter adaptation algorithm. Experimental results show that the adaptive systems can tolerate parameter mismatch and unmodeled dynamics while maintaining stability and asymptotic tracking performance.
|Original language||English (US)|
|Number of pages||15|
|Journal||American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST|
|State||Published - Dec 1 1997|