Analysis of slow convergence regions in adaptive systems
Author(s)
Nouwens, Oscar
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Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
Anuradha M. Annaswamy.
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In this thesis, the convergence properties of errors are examined in a class of adaptive systems that corresponds to adaptive control of linear time-invariant plants with state variables accessible. The existence of a sticking region is demonstrated in the error space where the state errors move with a finite velocity independent of their magnitude. It is shown that these properties are also exhibited by adaptive systems with closed-loop reference models, which have been demonstrated to exhibit improved transient performance, as well as those that include an integral control in the inner-loop. Simulation and numerical studies are included to illustrate the size of this sticking region and its dependence on various system parameters. With the existence of sticking regions shown for inner-loop adaptive controllers, the impact on outer-loop control is demonstrated for systems that implement inner-loop adaptation.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. Cataloged from PDF version of thesis. Includes bibliographical references (pages 77-78).
Date issued
2016Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringPublisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.