TY - JOUR
T1 - Adaptive Output Feedback for Nonsquare Systems with Arbitrary Relative Degree
AU - Lee, Hanmin
AU - Cichella, Venanzio
AU - Hovakimyan, Naira
N1 - 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: [email protected]).
PY - 2021/2
Y1 - 2021/2
N2 - 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.
AB - 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.
KW - Adaptive control
KW - adaptive systems
KW - nonlinear systems
KW - nonsquare systems
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U2 - 10.1109/TAC.2020.2989279
DO - 10.1109/TAC.2020.2989279
M3 - Article
AN - SCOPUS:85100378685
SN - 0018-9286
VL - 66
SP - 895
EP - 901
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 2
M1 - 9075447
ER -