Trust-region reflective adaptive controller for time varying systems

Paul M. Moubarak

Trust-region reflective adaptive controller for time varying systems

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Author(s): Paul M. Moubarak ¹
- Affiliations: 1: Ford Motor Company – Research and Innovation Center, Automatic Transmissions and Driveline Systems, 2101 Village Road, Dearborn, Michigan, 48121, USA
Source: Volume 9, Issue 2, 19 January 2015, p. 240 – 247
DOI: 10.1049/iet-cta.2014.0380 , Print ISSN 1751-8644, Online ISSN 1751-8652

Received 09/04/2014, Accepted 05/09/2014, Revised 28/07/2014, Published 31/10/2014

The new algorithm presented in this study, called TRAC (trust-region reflective adaptive controller), performs online adaptive control of time-varying linear or linearisable systems subject to parametric disturbances. The process of accomplishing such adaptive control consists of feeding the measured output signal back to TRAC – which occupies the outer loop of a control scheme – as well as the reference signal. Knowing the order of the closed-loop system in the inner loop, a parametric model of the time-varying output is derived as a function of the system's variables, such as damping and natural frequencies. Using trust-region optimisation, these parameters are estimated in real-time by recursively fitting the actual output into the parametric model. This allows for the location of the actual poles to be estimated in the s-domain after the poles have been shifted by the disturbance. Accordingly, the gains are re-tuned in order to return the actual poles to their desired location and absorb the disturbance. The primary advantage of TRAC relative to the state-of-the-art is its computational simplicity which is owed to search space restriction and heuristic approximations with trust-region search. A video of a sample application describing real-time TRAC-based control can be found on the IET's Digital Library.

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