This article contributes with a finite-time model reference adaptive control approach to solve the robust tracking problem for a class of disturbed scalar linear systems. A nonlinear continuous control law, composed of nonlinear adaptive gains, provides a finite-time rate of convergence. For the ideal case, that is, without external disturbances, the tracking and the parameter (ideal control gains) identification error converge to zero in a finite time. For the disturbed case, the tracking and the parameter identification error dynamics are finite-time input-to-state stable with respect to the external disturbance. The corresponding convergence proofs and the robustness analysis are based on a Lyapunov function approach, input-to-state stability theory, and homogeneity theory. Finally, simulation and experimental results show the feasibility of the proposed scheme.
|Number of pages||17|
|Journal||International Journal of Adaptive Control and Signal Processing|
|State||Published - May 2022|
Bibliographical noteFunding Information:
The authors thank Prof. Luis T. Aguilar for the facilities in using the Robust Control Lab for experiments, Grant 268364 INFRA2016. This work was supported in part by the SEP-CONACYT-ECOS-ANUIES Project 315597, by CONACYT CVU 772057, by C?tedras CONACYT CVU 270504 project 922, by C?tedras CONACYT CVU 166403 Project 1537, and by TecNM projects.
Partially supported by IPM grant 99030117.
© 2022 John Wiley & Sons Ltd.
- adaptive control
- homogeneous systems
- linear systems