Comparison of several adaptive controllers according to their robustness metrics

Evgeny Kharisov, Naira Hovakimyan, Karl J. Åström

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
StatePublished - Dec 1 2010
EventAIAA Guidance, Navigation, and Control Conference - Toronto, ON, Canada
Duration: Aug 2 2010Aug 5 2010

Publication series

NameAIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference
CountryCanada
CityToronto, ON
Period8/2/108/5/10

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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