Interlaced Direct Adaptive Regulation Scheme Applied to a Benchmark Problem

Ioan Doré Landau (1) , Abraham Castellanos Silva (1) , Luc Dugard (1) , Xu Chen (2)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 Department of Mechanical Engineering, University of Connecticut

Direct adaptive regulation schemes using Internal Model Principle and FIR Youla-Kučera controller parametriza-tion have been extensively used for attenuation of multiple unknown and time varying narrow band disturbances [10], [5], [2].This approach provides very good results but requires a very careful design of the central controller in order to keep the water bed effect on the output sensitivity function at a an acceptable level. To simplify the design of the central controller, an adaptive regulation scheme is proposed in this paper which will incorporate a particular adaptive IIR Youla-Kučera Filter, called ρ-notch structure (the denominator is a projection inside the unit circle of the poles of the model of the disturbance which has roots on the unit circle). The adaptive scheme estimates separately the numerator and denominator parameters of the IIR Youla-Kučera Filter. The use of this approach drastically simplify the design of the central controller and provides even better results than [2] with the advantage to use a single central controller independently of the number of narrow band disturbances. Real-time results obtained on an active vibration control system will illustrate the potential of this approach. Comparison with other approaches applied to the same system are also provided.

Mots clés: Adaptive Regulation; Active Vibration Control; Inertial Actuators; Multiple Narrow Band Disturbances; Youla- Kučera Parametrization; Internal Model Principle

Domaines: Automatique / Robotique

Ioan Doré Landau, Abraham Castellanos Silva, Luc Dugard, Xu Chen. Interlaced Direct Adaptive Regulation Scheme Applied to a Benchmark Problem. MED 2016 - 24th Mediterranean Conference on Control and Automation, Mediterranean, Jun 2016, Athènes, Greece. pp.443-448, ⟨10.1109/MED.2016.7535848⟩. ⟨hal-01314563⟩