Inter-relationship between approximate dynamic inversion and MRAC augmented with proportional-integral controller  

作　　者：Santanu Mallick Ujjwal Mondal 

机构地区：[1]Department of Applied Electronics and Instrumentation Engineering,Bankura Unnayani Institute of Engineering,Bankura,India [2]Instrumentation Engineering,Department of Applied Physics,University of Calcutta,Kolkata,India

出　　处：《Journal of Control and Decision》2023年第3期348-354,共7页控制与决策学报（英文）

摘　　要：Approximate Dynamic Inversion (ADI) is basically an approximation of exact dynamic inversionor feedback linearisation, which converts a nonlinear system to an equivalent linear structure.This method can be widely applied for controlling minimum phase, nonaffine-in-control systems.For applying the ADI method, a fast dynamic subsystem for deriving explicit inversion of thenonaffine equation is required. With full state feedback, ADI may be expressed in the same way asa Proportional Integral (PI) controller with only knowledge of the sign of control effectiveness andalso without any approximation. The Model Reference Adaptive Controller (MRAC) augmentedwith the PI method is an adaptive control technique where the PI parameters are updated/tunedas per the control methodology based on the MRAC-Massachusetts Institute of Technology (MIT)rule so that the plant is capable to follow the reference model. The main objective of this paperis to find the relationship between ADI and MRAC augmented with a PI controller.

关 键 词：Adaptive control approximate dynamic inversion(ADI) feedback linearisation Massachusetts Institute of Technology(MIT)rule model reference adaptive controller(MRAC) proportional-integral(PI)controller 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]