Abstract:
We present and discuss numerous stochastic simulation results that demonstrate and validate the superior performance of the robust multiple model adaptive control (RMMAC)...View moreMetadata
Abstract:
We present and discuss numerous stochastic simulation results that demonstrate and validate the superior performance of the robust multiple model adaptive control (RMMAC) methodology introduced in part I (Fekri et al., 2004). The system used is akin to the two-cart benchmark problem and it has a single uncertain mass. We show that the RMMAC significantly improves disturbance-rejection, as compared with the "best" nonadaptive controller designed by mixed-/spl mu/ synthesis; moreover, the RMMAC requires lower amplitude control signals. In the example considered, in addition to the uncertain mass, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements.
Date of Conference: 14-17 December 2004
Date Added to IEEE Xplore: 16 May 2005
Print ISBN:0-7803-8682-5
Print ISSN: 0191-2216