Gradient Descent-Based Adaptive Control for Time-Varying Command Following

• 成果类型: Article
• 署名作者: Jaramillo, Jesse; Yucelen, Tansel
• 署名单位: State University System of Florida; University of South Florida; State University System of Florida; University of South Florida
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3527289
• 发表日期: 2025
• 页码: 4069-4076
• 关键词: Adaptation models; Adaptive control; uncertainty; mathematical models; dynamical systems; Time-varying systems; regulation; Time-domain analysis; Robust control; accuracy; Gradient descent; model reference adaptive control; time-varying command following; uncertain dynamical systems

摘要

Output regulation theory is an effective method for achieving accurate time-varying command following and can utilize adaptive internal models to follow arbitrary reference signals generated by an exosystem. However, implementing these models can still lead to complexities, particularly regarding increased controller order and the dimensionality of gain matrices. This article contributes a gradient descent-based adaptive control method for uncertain dynamical systems. This method offers an alternative approach for the time-varying command following problem by altering both reference model trajectories and the control signal. As the gain of the proposed method increases, it can enable following every potential time-varying command profile without specificity. In addition to the presented system-theoretical results, three illustrative numerical examples are included to show the efficacy of the proposed gradient descent-based term for the time-varying command following problem.