Abstract
It is useful for control engineers to initialize automatically the tuning parameters of adaptive control by using a priori measured data without any trial and error.
The adaptive law using time varying gain matrix has better convergence rate than the one using fixed gain matrix. In order to be sensitive to characteristic change of control object, it is useful to use variable dead zone width which changes according to magnitude of disturbance.
In this paper, we propose a scaling type law having variable dead zone width and automatic initialization using a priori measured data. We prove a theorem that gives some properties and convergence of the algorithm, and illustrate how to determine the variable width by using data obtained from a priori measurement and at each iteration instant. The variable width is yielded by αd0 (k), of which constant α and time variant d0 (k) are respectively determined by a priori measured data and data calculated at each iteration.
Furthermore, we apply the above algorithm to identification of an electro-hydraulic servo system and verify the effects.
