Peaking Reduction of CRM-Based Adaptive Control via a Modified Adaptive Law

  • Yafei Liu
  • Jun Yang
  • Jing NaEmail author
  • Guanbin Gao
  • Shubo Wang
  • Qiang Chen
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


To circumvent the oscillations induced by high-gain adaptation in the model reference adaptive control (MRAC), closed-loop reference model (CRM) based MRAC was recently proposed. However, although a fair steady-state performance can be guaranteed, the induced peaking phenomenon in the CRM based adaptive control system may deteriorate the transient tracking response. In this paper, we first analyze the peaking value based on L2 norm and Cauchy-Schwartz inequality. Then according to the analysis, a novel adaptive law containing the parameter estimation error is constructed to alleviate the peaking phenomenon. This proposed method can allow using a fairly large feedback gain in the CRM based MRAC system to achieve better transient performance. Experiment results based on a 3-DOF helicopter show that the modified CRM adaptive control system can alleviate the peaking phenomenon.


Closed-loop reference model Adaptive control Peaking phenomenon Parameter estimation 



This work was supported by the National Natural Science Foundation of China (grant 61573174 and 61922037).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Yafei Liu
    • 1
  • Jun Yang
    • 1
  • Jing Na
    • 1
    Email author
  • Guanbin Gao
    • 1
  • Shubo Wang
    • 2
  • Qiang Chen
    • 3
  1. 1.Faculty of Mechanical & Electrical EngineeringKunming University of Science & TechnologyKunmingChina
  2. 2.School of AutomationQingdao UniversityQingdaoChina
  3. 3.College of Information EngineeringZhejiang University of TechnologyHangzhouChina

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