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RMRAC-Based Adaptive Two-Samples-Ahead Preview Control: A Robust Approach
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DOI：10.1016/j.jfranklin.2025.108161.png)
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Abstract
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This paper presents a discrete-time robust adaptive two samples ahead preview controller. The controller stability is rigorously analyzed using Lyapunov stability theory, demonstrating its robustness to matched and unmatched dynamics. The analysis also provides insights into the reference model design, as well as presents directions to design the controller using a reduced-order reference model, if necessary. Simulation results are presented to validate the feasibility and performance of the proposed controller in regulating a second-order non-minimum phase and unstable plant under parametric variations and disturbances. The results show the convergence of regulation errors to a finite residual set, even in the presence of severe unmodeled dynamics.
Journal
J
IF:
4.2
Papers:
822
Citations:
0