A Bumpless Transfer Approach in Augmenting Adaptive Control

Abstract

A bumpless transfer problem that arises in switching an adaptive controller that augments an existing linear controller is considered. In a linear setting, the bumpless transfer has been observed to share common features with anti-windup approaches in the literature. In a neural network-based adaptive control architecture that is employed for augmenting the existing linear controller, a technique called pseudo-control hedging has been employed in order to address anti-windup problem. By slight modification to the pseudo-control hedging method, we show that the bumpless transfer problem can also be ensured by pseudo-control hedging. This is reminiscent of the fact that the bumpless transfer problem is formulated equivalent to the anti-windup problem in a linear setting. The approach is illustrated by considering various switching logics for adaptive control in a pitch attitude control problem.