A Null-Space Compensation Control for Multi-input Redundant Plant Based on Model Reference Adaptive Control

Abstract

In this paper, we proposed to design a null-space compensation control system for linear time invariant systems with multi-input redundant channels. In the input redundant systems, control input vector may have null-space component of the plant parameter vector. The null-space component does not contribute to the generation of the control force which drives the plant. If a control input that does not include the null-space component can be generated, efficient control is achieved in the sense of minimizing the norm of the control input. In the proposed method, a model reference adaptive control (MRAC) method was used to design the control system that compensates for the null-space component even if the plant parameters are unknown. The effectiveness of the proposed null-space compensation control system was shown by numerical examples.