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Indirect Model Reference Adaptive Control of Cascade Systems Based on the Speed-Bigradient Method
https://doi.org/10.17587/mau.24.167-177
Abstract
The adaptive tracking control problem for the linear cascade system consisting of two subsystems is considered. The modification of the Speed bi-gradient method is proposed to improve both the accuracy and the robust property. The considered modification is performed by an extending the dimension of the output subsystem of a cascade system, and forming the information output as the generalized tracking error dynamics, and the virtual control synthesis as the local feedback of an information output. The fourstage design procedure of the indirect adaptive control is proposed. The achievement of the tracking control objective is proved by a Lyapunov method. The finite-time stability of the sliding manifold and the information output is ensured. Identification properties of a control law are investigated. Both the control law design and simulation results for the third order cascade control plant are presented.
Keywords
sliding mode control,
integral virtual control,
adaptive control,
tracking,
Lyapunov function,
speed-gradient method,
cascade system
Supporting agencies: Y. I. Myshlyaev (1960-2020), is Leading Researcher at the Academician Pilyugin Center, Moscow, and is lecturer at the Bauman Moscow State Technical University, has made a main contribution to the considered method
About the Authors
C. T. Nguyen
Le Quy Don Technical University
Viet Nam
Viet Nam
Nguyen Chi Thanh - Сand. Tech. Sc., Associate Professor.
Hanoi, 240000
A. V. Finoshin
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Сand. Tech. Sc., Associate Professor.
Moscow, 105005
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Review
For citations:
Nguyen C.T., Finoshin A.V. Indirect Model Reference Adaptive Control of Cascade Systems Based on the Speed-Bigradient Method. Mekhatronika, Avtomatizatsiya, Upravlenie. 2025;26(4):167-177. https://doi.org/10.17587/mau.24.167-177
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