This study presents a synchronisation-oriented perspective towards adaptive control which views model-referenced adaptation as synchronisation between actual and virtual dynamic systems. In the context of adaptation, model reference adaptive control methods make the state response of the actual plant follow a reference model. In the context of synchronisation, consensus methods involving diffusive coupling induce a collective behaviour across multiple agents. We draw from the understanding about the two time-scale nature of synchronisation motivated by the study of blended dynamics. The synchronisation-oriented approach consists in the design of a coupling input to achieve desired closed-loop error dynamics followed by the input allocation process to shape the collective behaviour. We suggest that synchronisation can be a reasonable design principle allowing a more holistic and systematic approach to the design of adaptive control systems for improved transient characteristics. Most notably, the proposed approach enables not only constructive derivation but also substantial generalisation of the previously developed closed-loop reference model adaptive control method. Practical significance of the proposed generalisation lies at the capability to improve the transient response characteristics and mitigate the unwanted peaking phenomenon at the same time.

翻译：本研究提出一种面向同步的自适应控制视角，将模型参考自适应视为实际系统与虚拟系统之间的同步过程。在自适应控制中，模型参考自适应方法使被控对象的状态响应跟踪参考模型；而在同步控制中，基于扩散耦合的一致性方法可诱导多智能体产生集体行为。受混合动力学研究的启发，我们深入理解同步的两时间尺度特性。该面向同步的设计方法包含两个环节：首先设计耦合输入以实现期望的闭环误差动力学，继而通过输入分配过程塑造集体行为。研究表明，同步可作为合理的设计准则，为改善暂态特性的自适应控制系统设计提供更系统全面的方法论。尤为重要的是，所提方法不仅能对现有闭环参考模型自适应控制方法进行构造性推导，还可实现实质性推广。该推广方法的实际意义在于，能够在改善暂态响应特性的同时有效抑制非期望的峰值现象。