ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION

Samir Ladaci, Jean Jacques Loiseau, Abdelfatah Charef

2007

Abstract

This paper presents a new approach for robust adaptive control, using fractional order systems as parallel feedforward in the adaptation loop. The basic adaptive algorithm used here is Model Reference Adaptive Control (MRAC), which do not require explicit parameter identification. The problem is that such a control system may diverge when confronted with finite sensor and actuator dynamics, or with parasitic disturbances. One of the classical robust adaptive control solutions to these problems, makes use of parallel feedforward and simplified adaptive controllers based on the concept of positive realness. This control scheme is based on the ASPR property of the plant. We show that this condition implies also robust stability in case of fractional order controllers. A simulation example of a SISO robust adaptive control system illustrates the interest of the proposed method in the presence of disturbances and noises.

Paper Citation

in Harvard Style

Ladaci S., Jacques Loiseau J. and Charef A. (2007). ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: Fractional Order Systems, (ICINCO 2007) ISBN 978-972-8865-84-9, pages 414-420. DOI: 10.5220/0001636904140420

in Bibtex Style

@conference{fractional order systems07,
author={Samir Ladaci and Jean Jacques Loiseau and Abdelfatah Charef},
title={ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: Fractional Order Systems, (ICINCO 2007)},
year={2007},
pages={414-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001636904140420},
isbn={978-972-8865-84-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: Fractional Order Systems, (ICINCO 2007)
TI - ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION
SN - 978-972-8865-84-9
AU - Ladaci S.
AU - Jacques Loiseau J.
AU - Charef A.
PY - 2007
SP - 414
EP - 420
DO - 10.5220/0001636904140420