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Adaptive Output Regulation: Model Reference and Internal Model Techniques
Date of Award
Doctor of Philosophy (PhD)
In this work, Model Reference Adaptive Control (MRAC) and Adaptive Internal Model (AIMC) techniques are used to address problems of output regulation for uncertain nonlinear systems. Under appropriate hypotheses, MRAC methods compensate for parametric uncertainties and force the dynamic response of the controlled system to match that of a specified reference model. AIMC provides a means to robustly asymptotically achieve prescribed trajectories and/or reject disturbances generated by an exosystem, even when the exosystem’s frequencies of oscillation are not known a priori. Combining these two approaches provides useful control architectures; two such architectures are explored in this work. Additionally, some of the described techniques are applied to a quadrotor helicopter and demonstrated in both simulation and laboratory flight.
David Peters, Ervin Rodin, Jr-Shin Li