TY - GEN
T1 - Development of verification and validation approaches for ℒ 1 adaptive control
T2 - AIAA Guidance, Navigation, and Control Conference
AU - Kim, Kwang Ki Kevin
AU - Hovakimyan, Naira
N1 - Funding Information:
The authors acknowledge the support of Air Force Office of Scientific Research under Contract No. FA9550–09–1–0265, and NASA under Contracts NNX08BA64A and NNX08BA65A. The authors are grateful to Roberto Tempo from Politecnico di Torino, Italy, and doctoral students Evgeny Kharisov, Enric Xargay for the useful discussions and feedback.
PY - 2010
Y1 - 2010
N2 - The problem of optimal trade-off-between robustness, in terms of time-delay margin, and performance of the ℒ 1 adaptive controller, is investigated in this paper. Although the architectures of the ℒ 1 adaptive control theory can be systematically tuned to trade-off performance for robustness, there is no methodology as of today for the design of the underlying filter towards obtaining the optimal performance. We present design schemes based on search for the design parameters or coefficients of the filter. We introduce filters of specific structures to satisfy the design specifications and investigate their properties over the space of the design parameters. We also borrow greedy randomized algorithms to analyze the system performance and robustness in the presence of uncertainties. In addition, we compute approximated sets of acceptable design parameters in both analytical and numerical ways. Illustrative examples show that these methods can achieve the desired control design specifications.
AB - The problem of optimal trade-off-between robustness, in terms of time-delay margin, and performance of the ℒ 1 adaptive controller, is investigated in this paper. Although the architectures of the ℒ 1 adaptive control theory can be systematically tuned to trade-off performance for robustness, there is no methodology as of today for the design of the underlying filter towards obtaining the optimal performance. We present design schemes based on search for the design parameters or coefficients of the filter. We introduce filters of specific structures to satisfy the design specifications and investigate their properties over the space of the design parameters. We also borrow greedy randomized algorithms to analyze the system performance and robustness in the presence of uncertainties. In addition, we compute approximated sets of acceptable design parameters in both analytical and numerical ways. Illustrative examples show that these methods can achieve the desired control design specifications.
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U2 - 10.2514/6.2010-7691
DO - 10.2514/6.2010-7691
M3 - Conference contribution
AN - SCOPUS:84867753668
SN - 9781600869624
T3 - AIAA Guidance, Navigation, and Control Conference
BT - AIAA Guidance, Navigation, and Control Conference
Y2 - 2 August 2010 through 5 August 2010
ER -