Multiple Model Dual Adaptive Control of Jump Nonlinear Systems
This chapter considers control of a class of nonlinear, stochastic, multimodal systems whose various mode dynamics are unknown and subject to unscheduled jumps. The practical significance of such systems includes fault-tolerant control or plants working in an unpredictable environment. The task of controlling such systems is challenging because of the presence of both mode jumps, which makes it a temporal multimodal problem, as well as the dynamic uncertainty of the modes. The latter takes into account that in a realistic situation it is difficult to formulate prior accurate models for all modes, particularly when a mode corresponds to some fault condition. The solution adopted combines ideas taken from adaptive control to handle dynamic uncertainty, and multiple model techniques to handle the multimodality. The use of multiple models also serves to make the system more “intelligent” because, as explained in Chapter 1, it furnishes it with characteristics of learning (through memorization) and not just adaptation.
KeywordsKalman Filter Local Model Mode Dynamic Multiple Model Mode Transition
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