TY - GEN
T1 - Comparison of several adaptive controllers according to their robustness metrics
AU - Kharisov, Evgeny
AU - Hovakimyan, Naira
AU - Åström, Karl J.
N1 - Funding Information:
This work was sponsored by Air Force Office of Scientific Research under Contract No. 0265.
PY - 2010
Y1 - 2010
N2 - This paper compares the performance and the robustness of several linear adaptive controllers using a linear system with time-varying disturbance in the presence of measurement noise. For the purpose of comparison we select the direct and indirect model reference adaptive controller (MRAC), the direct MRAC with σ-modification, and the ℒ 1 adaptive controller. Using tools from linear systems theory we compute the stability margins of these controllers and examine the performance of these closed-loop systems via analysis of several important transfer functions between the system's inputs and outputs. In this paper we also investigate some properties of the piecewise constant update laws, introduced in recent ℒ 1 papers, and provide an interpretation to draw some insights. Finally, we validate the conclusions in simulations.
AB - This paper compares the performance and the robustness of several linear adaptive controllers using a linear system with time-varying disturbance in the presence of measurement noise. For the purpose of comparison we select the direct and indirect model reference adaptive controller (MRAC), the direct MRAC with σ-modification, and the ℒ 1 adaptive controller. Using tools from linear systems theory we compute the stability margins of these controllers and examine the performance of these closed-loop systems via analysis of several important transfer functions between the system's inputs and outputs. In this paper we also investigate some properties of the piecewise constant update laws, introduced in recent ℒ 1 papers, and provide an interpretation to draw some insights. Finally, we validate the conclusions in simulations.
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U2 - 10.2514/6.2010-8047
DO - 10.2514/6.2010-8047
M3 - Conference contribution
AN - SCOPUS:84867803663
SN - 9781600869624
T3 - AIAA Guidance, Navigation, and Control Conference
BT - AIAA Guidance, Navigation, and Control Conference
T2 - AIAA Guidance, Navigation, and Control Conference
Y2 - 2 August 2010 through 5 August 2010
ER -