Multivariable adaptive control: A survey |
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| Affiliation: | 1. Université de Lorraine, Institut Elie Cartan de Lorraine, UMR 7502, Vandoeuvre-lès-Nancy, F-54506; CNRS, Institut Elie Cartan de Lorraine, UMR 7502, Vandoeuvre-lès-Nancy, F-54506; INRIA, Villers-lès-Nancy, F-54600, France;2. School of Electrical Engineering, Tel Aviv University, Ramat Aviv 69978, Israel;1. School of Engineering and Information Technology, University of New South Wales, Canberra, ACT 2600, Australia;2. CNR-IEIIT, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy;1. Laboratoire des Signaux et Systèmes, CNRS-SUPELEC, Plateau du Moulon, 91192, Gif-sur-Yvette, France;2. Institute of Automation, Hangzhou Dianzi University, Xiasha Higher Education Zone, Hangzhou, 310018, Zhejiang Province, PR China;3. Department of Control Systems and Informatics, ITMO University, Kronverkskiy av. 49, Saint Petersburg, 197101, Russia |
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| Abstract: | Adaptive control is a control methodology capable of dealing with uncertain systems to ensure desired control performance. This paper provides an overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input–multi-output systems, literature reviews on adaptive control foundations and multivariable adaptive control methods, and related technical problems. It covers some basic concepts and issues such as certainty equivalence, stability, tracking, robustness, and parameter convergence. It discusses some of the most important topics of adaptive control: plant uncertainty parametrization, stable controller adaptation, and design conditions for different adaptive control schemes. The paper also presents a detailed study of well-developed multivariable model reference adaptive control theory and design techniques. It provides an introduction to multivariable adaptive pole placement and adaptive nonlinear control, and it concludes by identifying some open research problems. |
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| Keywords: | Adaptive control Backstepping control Fault-tolerant control Certainty equivalence principle Feedback linearization Gain matrix decomposition Multivariable systems Model reference control Parameter estimation Parametrization Plant-model matching Pole placement control Robustness Stability and tracking System uncertainties |
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