Abstract
We demonstrate how the transient response of Model Reference Adaptive Control (MRAC) is improved by utilizing Generalized Dynamic Inversion (GDI) and the corresponding nullspace parametrization in the powerful Greville formula. The proposed approach neither alters the reference model structure, nor it modifies it through feedback. Rather, the proposed approach utilizes the control redundancy in matching the reference model for the purpose of designing an MRAC control law that yields good transient closed loop adaptive control response. The adaptive GDI-MRAC control law is composed of two parts: a particular part that enforces the reference model dynamics, and an auxiliary part that is affine in a null control vector. The particular and the auxiliary parts of the adaptive control law are confined in the range space of the transposed control matrix and its orthogonal complement nullspace, respectively. The null control vector is projected onto the nullspace of the control matrix via a nullprojection matrix. Hence, the null control vector design does not interfere with the reference model following, yet it can be designed via state feedback to improve closed loop state transient response. An improved Lyapunov control function is used to design the adaptation gains such that asymptotic vanishing of the state error dynamics is guaranteed. Extensive simulations are conducted to demonstrate the efficacy of the proposed method.