A Set-Theoretic Model Reference Adaptive Control Architecture with Partially Adjustable Strict Performance Guarantees: A Command Governor Approach

A new set-theoretic model reference adaptive control architecture is reported with partially adjustable strict performance guarantees on a subset of the system error vector. The proposed framework involves a two-level constructive design framework. First, we introduce an auxiliary state dynamics and develop the auxiliary system error vector between the states of an uncertain dynamical system and the states of this auxiliary dynamics. This allows a control designer to independently weight each auxiliary system error vector element while enforcing strict performance guarantees on the norm of this auxiliary system error vector. Next, we utilize a command governor mechanism. This mechanism drives a feasible user-selected system subset states to a close and user-controllable neighborhood of their equivalent reference model subset states in order to achieve easily adjustable strict performance guarantees on partial system errors. A numerical example complements the presented architecture.