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Robustness analysis of model reference adaptive control in the presence of input rate saturation using the describing function method

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Abstract

This paper proposes a stability analysis method for a closed-loop system consisting of a second-order system and model reference adaptive controller (MRAC) with an input rate limited based on describing function method. The method allows prediction of oscillation characteristics for a wide range of system conditions, saturation, and control system parameters. The method includes quasi-linearization of the nonlinear element of the system via a Describing Function (DF) approach and then shaping the loop to reach desired limit-cycle characteristics. As the DF method is used, loop shaping takes place in the Nyquist diagram. The efficacy of the proposed method is analyzed by studying vehicle lateral dynamics in the presence of the actuator rate saturation and unmodeled dynamics. Simulation studies carried out in time and frequency domains, are used to assess the accuracy of the proposed method.

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The MATLAB code used for the simulation can be provided via email if required.

Data Availability

This manuscript presents a theoretical analysis of Robustness analysis of model reference adaptive control in the presence of input rate saturation using the describing function method and does not involve the collection or analysis of any data.

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Authors and Affiliations

  1. Faculty of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol, Iran

    Fatemeh Tavakkoli & Alireza Khosravi

  2. School of Physics, Engineering and Computer Science, University of Hertfordshire, Hatfield, Hertfordshire, AL10 9AB, UK

    Pouria Sarhadi

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  1. Fatemeh Tavakkoli
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  2. Alireza Khosravi
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  3. Pouria Sarhadi
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Correspondence to Alireza Khosravi.

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Tavakkoli, F., Khosravi, A. & Sarhadi, P. Robustness analysis of model reference adaptive control in the presence of input rate saturation using the describing function method. Int. J. Dynam. Control 12, 1415–1426 (2024). https://doi.org/10.1007/s40435-023-01184-8

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  • DOI: https://doi.org/10.1007/s40435-023-01184-8

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