Title: Application of augmented UD identification with selective forgetting in an adaptive control loop

Authors: Pouria Sarhadi; Karim Salahshoor; Ali Khaki-Sedigh

Addresses: Department of Control Engineering, Islamic Azad University, South Tehran Branch, P.O. Box:363, Babolsar, Iran ' Department of Automation and Instrumentation, Petroleum University of Technology, South Khosro Street, Sattarkhan Avenue, P.O. Box 1453953153, Tehran, Iran ' Department of Control Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati Street, P.O. Box 16315-1355, Tehran, Iran

Abstract: Robustness of parameter estimator plays a vital role in adaptive controllers. A modified identification algorithm is proposed based on the augmented UD identification (AUDI) primary version. Augmented UD identification with selective forgetting (AUDSF) method is derived as a robust derivation of AUDI to be integrated with input-output data filtering, relative dead zone, and data normalisation features. AUDSF is incorporated by generalised predictive controller (GPC) strategy to produce an applicable adaptive control method. The comparative performances of the developed approach have been explored on two-mass spring challenging benchmark problem, which demonstrates its excellent behaviour under conducted parameter and disturbance uncertainty scenarios.

Keywords: augmented UD identification; AUDI; upper diagonal; selective forgetting; robust estimation; adaptive control; generalised predictive control; GPC; parameter estimation; two mass spring systems; simulation; parameter uncertainty; disturbance uncertainty.

DOI: 10.1504/IJMIC.2014.059393

International Journal of Modelling, Identification and Control, 2014 Vol.21 No.1, pp.54 - 64

Published online: 07 Jun 2014 *

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