Uncertainty Parametrization on Inverted Pendulum with Model Reference Adaptive Control

Date

2015-09-20

Author

Sarsılmaz, Selahattin Burak
Yayla, Metehan
Kutay, Ali Türker

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n this study, we present simulation and experimental results of Model Reference Adaptive Controller (MRAC) on inverted pendulum. Adaptive element is constructed by considering either structured or unstructured uncertainty on the system. For structured case, bias term and states are included in regressor function whereas the unstructured uncertainty is approximated by two orthogonal basis functions, which are Chebyshev polynomials and Fourier series. The use of orthogonal basis functions improves the performance of adaptive controller by remarkably suppressing the uncertainty. We demonstrate this superiority of orthogonal bases over structured uncertainty approximation by simulation results.

URI

http://aiac.ae.metu.edu.tr/db/serv.php?Paper=AIAC-2015-072
https://hdl.handle.net/11511/79836

Conference Name

Ankara International Aerospace Conference (AIAC)

Collections

Department of Aerospace Engineering, Conference / Seminar

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Citation Formats

S. B. Sarsılmaz, M. Yayla, and A. T. Kutay, “Uncertainty Parametrization on Inverted Pendulum with Model Reference Adaptive Control,” presented at the Ankara International Aerospace Conference (AIAC), Ankara, Türkiye, 2015, Accessed: 00, 2021. [Online]. Available: http://aiac.ae.metu.edu.tr/db/serv.php?Paper=AIAC-2015-072.