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Authors: Samir Ladaci 1 ; Jean Jacques Loiseau 1 and Abdelfatah Charef 2

Affiliations: 1 IRCCyN, Ecole Centrale de Nantes, France ; 2 Université Mentouri, Algeria

Keyword(s): Robust adaptive control, Fractional Adaptive Control, Model Reference Adaptive Control, Feedforward, Fractional order systems.

Abstract: This paper presents a new approach for robust adaptive control, using fractional order systems as parallel feedforward in the adaptation loop. The basic adaptive algorithm used here is Model Reference Adaptive Control (MRAC), which do not require explicit parameter identification. The problem is that such a control system may diverge when confronted with finite sensor and actuator dynamics, or with parasitic disturbances. One of the classical robust adaptive control solutions to these problems, makes use of parallel feedforward and simplified adaptive controllers based on the concept of positive realness. This control scheme is based on the ASPR property of the plant. We show that this condition implies also robust stability in case of fractional order controllers. A simulation example of a SISO robust adaptive control system illustrates the interest of the proposed method in the presence of disturbances and noises.

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Paper citation in several formats:
Ladaci, S.; Jacques Loiseau, J. and Charef, A. (2007). ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007) - Volume 2: Fractional Order Systems; ISBN 978-972-8865-84-9; ISSN 2184-2809, SciTePress, pages 414-420. DOI: 10.5220/0001636904140420

@conference{fractional order systems07,
author={Samir Ladaci. and Jean {Jacques Loiseau}. and Abdelfatah Charef.},
title={ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007) - Volume 2: Fractional Order Systems},
year={2007},
pages={414-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001636904140420},
isbn={978-972-8865-84-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007) - Volume 2: Fractional Order Systems
TI - ROBUST ADAPTIVE CONTROL USING A FRACTIONAL FEEDFORWARD BASED ON SPR CONDITION
SN - 978-972-8865-84-9
IS - 2184-2809
AU - Ladaci, S.
AU - Jacques Loiseau, J.
AU - Charef, A.
PY - 2007
SP - 414
EP - 420
DO - 10.5220/0001636904140420
PB - SciTePress

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