Supervisory adaptive inverse control based on an inhomogeneous model

An inhomogeneous incremental time-varying linear model is used to develop an adaptive inverse controller, and the controller is had to be in series with a first-order filter to improve the system stability. The inverse controller is self-regulating through on-line identification for the model parameters, and produces dominant control action. But the filter is self-tuning through on-line identification for the system behavior, and possesses the function of supervising the system performance. By detecting the model feature to make control decision, multi-mode control strategy is adopted. In this multimode control strategy, adaptive inverse control and conventional control play a leading and an auxiliary role, respectively. Finally the supervisory adaptive inverse control system developed in this paper is applied to the trajectory tracking of a rock-drilling boom, and excellent effect is acquired.