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Adaptive control using multiple models
Abstract
Intelligent control may be viewed as the ability of a controller to operate in multiple environments by recognizing which environment is currently in existence and servicing it appropriately. An important prerequisite for an intelligent controller is the ability to adapt rapidly to any unknown but constant operating environment. This paper presents a general methodology for such adaptive control using multiple models, switching, and tuning. The approach was first introduced by Narendra et al. (1992) for improving the transient response of adaptive systems in a stable fashion. This paper proposes different switching and tuning schemes for adaptive control which combine fixed and adaptive models in novel ways. The principal mathematical results are the proofs of stability when these different schemes are used in the context of model reference control of an unknown linear time-invariant system. A variety of simulation results are presented to demonstrate the efficacy of the proposed methods.
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Cited by
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Wolpert, D. M., Doya, K., & Kawato, M. (2003) · Philosophical Transactions of the Royal Society of London. Series B: Biological Sciences · doi:10.1098/rstb.2002.1238 · Cited by 1,228
Analysis and synthesis of switched linear control systems
Sun, Z., & Ge, S. S. (2005) · Automatica · doi:10.1016/j.automatica.2004.09.015 · Cited by 710
Model learning for robot control: A survey
Nguyen-Tuong, D., & Peters, J. (2011) · Cognitive Processing · doi:10.1007/s10339-011-0404-1 · Cited by 503
Modeling, Clustering, and Segmenting Video with Mixtures of Dynamic Textures
Chan, A. B., & Vasconcelos, N. (2008) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.70738 · Cited by 459
Fault Tolerant Flight Control - A Survey
Verhaegen, M., Kanev, S., Hallouzi, R., Jones, C., Maciejowski, J., & Smail, H. (2010) · Lecture Notes in Control and Information Sciences · doi:10.1007/978-3-642-11690-2_2 · Cited by 65
Metadata
- Authors
- Narendra, K. S., & Balakrishnan, J.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1997
- Volume
- 42
- Issue
- 2
- Pages
- 171-187
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2111367974
- Cited by
- 1,276
- References
- 0
- FWCI
- 52.72
- Type
- journal article
- Language
- en
- Open access
- closed
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- Narendra, K. S., & Balakrishnan, J. (1997). Adaptive control using multiple models. IEEE Transactions on Automatic Control. https://doi.org/10.1109/9.554398
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