Adaptive Control with Rate-Limited Integral Action for Systems with Matched, Time-Varying Uncertainties
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866910869493907456 |
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| author | Chen, Ying-Chun Woolsey, Craig |
| author_facet | Chen, Ying-Chun Woolsey, Craig |
| contents | This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying unstructured portion. The former is addressed using conventional model reference adaptive control. The latter is handled using disturbance observer-based control. The objective is to ensure good performance through observer-based disturbance rejection when possible, while preserving the robustness guarantees of adaptive control. A key feature of the observer-based disturbance compensation is a magnitude and rate limit on the integral action that prevents fast fluctuations in the control command due to the observer dynamics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_07971 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Adaptive Control with Rate-Limited Integral Action for Systems with Matched, Time-Varying Uncertainties Chen, Ying-Chun Woolsey, Craig Systems and Control This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying unstructured portion. The former is addressed using conventional model reference adaptive control. The latter is handled using disturbance observer-based control. The objective is to ensure good performance through observer-based disturbance rejection when possible, while preserving the robustness guarantees of adaptive control. A key feature of the observer-based disturbance compensation is a magnitude and rate limit on the integral action that prevents fast fluctuations in the control command due to the observer dynamics. |
| title | Adaptive Control with Rate-Limited Integral Action for Systems with Matched, Time-Varying Uncertainties |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.07971 |