Adaptive Output Feedback Control with Reduced Sensitivity to Sensor Noise

A. T. Kutay, A. J. Calise, N. Hovakimyan

Research output: Contribution to journalConference article

Abstract

We address adaptive output feedback control of uncertain nonlinear systems with noisy output measurements, in which both the dynamics and the dimension of the regulated system may be unknown, and only the relative degree of the regulated output is assumed to be known. Given a smooth reference trajectory, the problem is to design a controller that forces the system measurement to track it with bounded errors. A recently developed method proposes the use of a linear error observer that estimates the tracking error and its derivatives. Since the observer is full order, it also estimates the states of the controller, even though these states are exactly known. It has been observed experimentally that the resulting adaptive control architecture is very sensitive to sensor noise. In this paper we provide a specific reduced order observer that significantly reduces sensitivity to sensor noise in adaptive control design. Experimental results on a three degrees of freedom laboratory model helicopter are used to illustrate the effectiveness of the reduced order observer design.

Original languageEnglish (US)
Pages (from-to)5141-5146
Number of pages6
JournalProceedings of the American Control Conference
Volume6
StatePublished - Nov 7 2003
Externally publishedYes
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003

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Feedback control
Sensors
Controllers
Helicopters
Nonlinear systems
Trajectories
Derivatives

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Adaptive Output Feedback Control with Reduced Sensitivity to Sensor Noise. / Kutay, A. T.; Calise, A. J.; Hovakimyan, N.

In: Proceedings of the American Control Conference, Vol. 6, 07.11.2003, p. 5141-5146.

Research output: Contribution to journalConference article

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