M. Kosaka and H. Shibata
Adaptive control, automatic initialization, dead zone, oil hydraulic
It is useful for system engineers to initialize tuning parameters of adaptive control automatically. Adaptation gain and width of dead zone are tuning parameters of an estimation law using a dead zone. A control law has additional tuning parameters. This paper presents a new variable dead zone and a new automatic initialization method for adaptive control using a variable dead zone with a few tuning parameters that are determined by previously measured input and output data. The dead zone width in the estimation law is changed depending on the input signal by a rational function initialized using previously measured input and output signals. The control law used here is an H∞ control one referring to a complementary sensitivity function against unstructured uncertainty. We apply the proposed method to an electro-hydraulic servo system and verify the effects by experimentation.
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