We apply retrospective cost adaptive control (RCAC) to a broadband disturbance rejection problem under limited modeling information and assuming that the performance variable is measured. The goal is to compare the asymptotic performance (that is, after convergence of the controller) of the adaptive controller with the performance of discrete-time LQG controller, which uses complete modeling information but does not require a measurement of the performance variable. For RCAC we assume that the first nonzero Markov parameter of the plant is known. We show that if the plant zeros are also known, the retrospective cost can be modified to recover the high-control-authority LQG performance.
- Dynamic Systems and Control Division
Broadband Disturbance Rejection Using Retrospective Cost Adaptive Control
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Sumer, ED, Hoagg, JB, & Bernstein, DS. "Broadband Disturbance Rejection Using Retrospective Cost Adaptive Control." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 39-48. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8580
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