ADAPTIVE CONTROL SYSTEM HAVING HEDGE UNIT AND RELATED APPARATUS AND METHODS
First Claim
1. A method comprising the step of:
- a) generating a hedge signal with an adaptive control system to avoid adaptation to at least one characteristic of the adaptive control system and at least one characteristic of a plant, the characteristics having effects to which adaptation would be detrimental to control of the plant with the adaptive control system.
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Abstract
The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having characteristics of the adaptive control system and plant to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effects of the characteristics from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristics in controlling the plant.
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Citations
26 Claims
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1. A method comprising the step of:
a) generating a hedge signal with an adaptive control system to avoid adaptation to at least one characteristic of the adaptive control system and at least one characteristic of a plant, the characteristics having effects to which adaptation would be detrimental to control of the plant with the adaptive control system. - View Dependent Claims (2, 3, 4, 9, 10, 11, 12, 13, 14)
- 8. A method as claimed in claim 8 wherein the control limit pertains to quantization effects associated with the actuator.
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15. An adaptive control system for controlling a plant, comprising:
a hedge unit coupled to receive at least one control signal and a plant state signal, the hedge unit generating a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having characteristics of the adaptive control system and the plant to which the adaptive control system is not to adapt, and a second model not having the characteristics to which the adaptive control system is not to adapt, the hedge signal used in the adaptive control system to remove effects of the characteristics from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristics in controlling the plant, the characteristics having effects to which adaptation would be detrimental to control of a plant with the adaptive control system. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
Specification