Output-feedback MRAC of networked control systems with packet dropout

Abstract

In this article, a technique of output-feedback model reference adaptive control for networked control systems is developed. The key issues of networked control systems such as channel bandwidth and data-packets dropout induced by the insertion of data networks in the feedback adaptive control loops are considered. The advantage of this article over earlier ones is that the combination of different aspects in networked control systems, output-feedback model reference control of systems with unknown parameters, and unknown data-packets dropout. Error models, adaptive laws, and stability analysis are derived in the case of uncertainty due to data-packets dropout. The applicability of the approach is demonstrated in a practical numerical example of a ship-steering adaptive system.

Keywords:

• networked control systems
• model reference
• output feedback
• packet dropout
• adaptive control
• Lyapunov's stability