Performance Enhancement of MRAC via Generalized Dynamic Inversion
Model Reference Adaptive Control (MRAC) guarantees closed loop stability and desired steady state performance of dynamical systems without undue dependence upon their mathematical models. However, the applicability of MRAC may not be suitable for systems that are crucial to safety due to its poor tr...
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MDPI AG
2025-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/1/18 |
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| author | Alharith Mahmoud Abdulrahman H. Bajodah |
| author_facet | Alharith Mahmoud Abdulrahman H. Bajodah |
| author_sort | Alharith Mahmoud |
| collection | DOAJ |
| description | Model Reference Adaptive Control (MRAC) guarantees closed loop stability and desired steady state performance of dynamical systems without undue dependence upon their mathematical models. However, the applicability of MRAC may not be suitable for systems that are crucial to safety due to its poor transient response. A modified MRAC design is presented in this paper for the purpose of enhancing the transient closed loop performance of MRAC by utilizing generalized dynamic inversion (GDI) and nullspace control. Two adaptive control actions take place under the proposed control design. The first control action is responsible for enforcing the reference model dynamics, and the second control action works to enhance the transient performance of MRAC. The two control actions do not interfere with each other because they act on two orthogonally complement control subspaces. The GDI-based MRAC law forces the uncertain dynamical system to follow the reference model, and it also restricts the undesirable oscillations intensity of the closed loop transient system response. Simulations are conducted on a flying wing aircraft model to demonstrate the efficacy of the proposed design. |
| format | Article |
| id | doaj-art-a805f9f186404e249913ebf7f052a384 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-a805f9f186404e249913ebf7f052a3842025-01-24T13:15:11ZengMDPI AGActuators2076-08252025-01-011411810.3390/act14010018Performance Enhancement of MRAC via Generalized Dynamic InversionAlharith Mahmoud0Abdulrahman H. Bajodah1Aerospace Engineering Department, King Abdulaziz University, Jeddah 21589, Saudi ArabiaAerospace Engineering Department, King Abdulaziz University, Jeddah 21589, Saudi ArabiaModel Reference Adaptive Control (MRAC) guarantees closed loop stability and desired steady state performance of dynamical systems without undue dependence upon their mathematical models. However, the applicability of MRAC may not be suitable for systems that are crucial to safety due to its poor transient response. A modified MRAC design is presented in this paper for the purpose of enhancing the transient closed loop performance of MRAC by utilizing generalized dynamic inversion (GDI) and nullspace control. Two adaptive control actions take place under the proposed control design. The first control action is responsible for enforcing the reference model dynamics, and the second control action works to enhance the transient performance of MRAC. The two control actions do not interfere with each other because they act on two orthogonally complement control subspaces. The GDI-based MRAC law forces the uncertain dynamical system to follow the reference model, and it also restricts the undesirable oscillations intensity of the closed loop transient system response. Simulations are conducted on a flying wing aircraft model to demonstrate the efficacy of the proposed design.https://www.mdpi.com/2076-0825/14/1/18null control vectorprojection matrixModel Reference Adaptive Controlgeneralized dynamic inversionLyapunov stability |
| spellingShingle | Alharith Mahmoud Abdulrahman H. Bajodah Performance Enhancement of MRAC via Generalized Dynamic Inversion Actuators null control vector projection matrix Model Reference Adaptive Control generalized dynamic inversion Lyapunov stability |
| title | Performance Enhancement of MRAC via Generalized Dynamic Inversion |
| title_full | Performance Enhancement of MRAC via Generalized Dynamic Inversion |
| title_fullStr | Performance Enhancement of MRAC via Generalized Dynamic Inversion |
| title_full_unstemmed | Performance Enhancement of MRAC via Generalized Dynamic Inversion |
| title_short | Performance Enhancement of MRAC via Generalized Dynamic Inversion |
| title_sort | performance enhancement of mrac via generalized dynamic inversion |
| topic | null control vector projection matrix Model Reference Adaptive Control generalized dynamic inversion Lyapunov stability |
| url | https://www.mdpi.com/2076-0825/14/1/18 |
| work_keys_str_mv | AT alharithmahmoud performanceenhancementofmracviageneralizeddynamicinversion AT abdulrahmanhbajodah performanceenhancementofmracviageneralizeddynamicinversion |