誤差の最大値に基づくモデル規範形ハイブリッド適応制御

抄録

Recently the hybrid adaptive control system is actively studied. The system has a continuous-time control law and a discrete-time like adaptive law. It has some merits as follows; it is suitable to the digital control, easy to analyze the stability, and robust relative to the adaptive control having a continuous-time adaptive law. However, the usual hybrid adaptive laws need a lot of computational time because they have numerical integrations in the adaptive calculations. In order to realize a more practical hybrid adaptive system, it is important to reduce the computational time.
To overcome the problem, this paper proposes a hybrid adaptive law without any numerical integration. The law is derived from the minimization of the maximum estimation error over an interval. We show briefly the global stability of the model reference adaptive control system (MRACS) with the proposed hybrid adaptive law. The viability of the analysis is verified by simple numerical simulations. Furthermore, it is shown the superiority to a usual hybrid adaptive control system, with respect to the computational time and the convergency of both the tracking error and the parameter estimation error.