Adaptive Output Feedback for Nonsquare Systems with Arbitrary Relative Degree

Hanmin Lee; Venanzio Cichella; Naira Hovakimyan

doi:10.1109/TAC.2020.2989279

Adaptive Output Feedback for Nonsquare Systems with Arbitrary Relative Degree

Hanmin Lee, Venanzio Cichella, Naira Hovakimyan

Research output: Contribution to journal › Article › peer-review

Abstract

This article considers adaptive output-feedback control problem for nonsquare multi-input-multi-output systems (MIMO) with arbitrary relative degree. The proposed controller, based on the \mathcal {L}_1 adaptive control architecture, is designed using the right interactor matrix and a suitably defined projection matrix. A state-output predictor, a low-pass filter, and adaptive laws are introduced that achieve output tracking of a desired reference signal. It is shown that the proposed control strategy guarantees closed-loop stability with arbitrarily small steady-state errors. The transient performance in the presence of nonzero initialization errors is quantified in terms of decreasing functions. Rigorous mathematical analysis and illustrative examples are provided to validate the theoretical claims.

Original language	English (US)
Article number	9075447
Pages (from-to)	895-901
Number of pages	7
Journal	IEEE Transactions on Automatic Control
Volume	66
Issue number	2
DOIs	https://doi.org/10.1109/TAC.2020.2989279
State	Published - Feb 2021

Keywords

Adaptive control
adaptive systems
nonlinear systems
nonsquare systems

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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title = "Adaptive Output Feedback for Nonsquare Systems with Arbitrary Relative Degree",

abstract = "This article considers adaptive output-feedback control problem for nonsquare multi-input-multi-output systems (MIMO) with arbitrary relative degree. The proposed controller, based on the \mathcal {L}_1 adaptive control architecture, is designed using the right interactor matrix and a suitably defined projection matrix. A state-output predictor, a low-pass filter, and adaptive laws are introduced that achieve output tracking of a desired reference signal. It is shown that the proposed control strategy guarantees closed-loop stability with arbitrarily small steady-state errors. The transient performance in the presence of nonzero initialization errors is quantified in terms of decreasing functions. Rigorous mathematical analysis and illustrative examples are provided to validate the theoretical claims.",

keywords = "Adaptive control, adaptive systems, nonlinear systems, nonsquare systems",

author = "Hanmin Lee and Venanzio Cichella and Naira Hovakimyan",

note = "Funding Information: Manuscript received February 9, 2019; revised February 10, 2019 and December 5, 2019; accepted March 30, 2020. Date of publication April 21, 2020; date of current version January 28, 2021. This work was supported in part by the Air Force Office of Scientific Research (AFOSR) under Grant FA9550-15-1-0518, the Office of Naval Research (ONR) under Grant N00014-19-1-2106 and in part by NASA under Grant NASA NNX12AM53A. Recommended by Associate Editor Prof. Guoxiang Gu. (Corresponding author: Hanmin Lee.) Hanmin Lee is with the Agency of Defense Development (ADD), Daejeon, Korea (e-mail: orangeus170@gmail.com). Publisher Copyright: {\textcopyright} 1963-2012 IEEE.",

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Adaptive Output Feedback for Nonsquare Systems with Arbitrary Relative Degree

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