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Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/1169

Title: Design of an Error-Based Robust Adaptive Controller
Authors: Song, Ki-Young
Gupta, Madan M
Jena, D
Keywords: Adaptive controller,
Dynamic Pole-Zero Locus
position feedback,
velocity feedback.
Issue Date: Oct-2009
Publisher: IEEE
Citation: IEEE International Conference on Systems, Man and Cybernetics, 2009. SMC 2009. 11-14 Oct. Page(s):2386 - 2390
Abstract: Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we propose a novel method for the design of an error- based robust adaptive controller to make the system response reasonably fast with no overshoot. Here the control action is designed by introducing the notion of `error-based adaptive controller' (EB-AC). In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error. For example, the position feedback parameter Kp(e, t), which controls the bandwidth of the system as well as the dynamic response, is a function of the system error e(t). In the design of the position feedback parameter Kp(e, t), for large error Kp(e, t) is kept large, thus increasing the bandwidth of the system which yields a fast response, whereas for decreasing errors, Kp(e, t) is continuously decreased to a small value. Thus, during the dynamic response of the system, the bandwidth o...
URI: http://dx.doi.org/10.1109/ICSMC.2009.5346369
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