Experimental validation of L1 adaptive control: The Rohrs counterexample in flight

Vladimir Dobrokhodov, Isaac Kaminer, Ioannis Kitsios, Enric Xargay, Naira Hovakimyan, Chengyu Cao, Irene M. Gregory, Lena Valavani

Research output: Contribution to journalArticlepeer-review


This paper presents flight-test results that examine the performance and robustness properties of an L1 control augmentation loop implemented onboard a small unmanned aerial vehicle. The framework used for in-flight control evaluation is based on the Rohrs counterexample, a benchmark problem presented in the early 1980s, to show the limitations of adaptive controllers developed at that time. Hardware-in-the-loop simulations and flight-test results confirm the abilityofthe L1 flight control systemtomaintain stability and predictable performance ofthe closed-loop adaptive system in the presence of general (artificially injected) unmodeled dynamics. The results demonstrate the advantages of L1 control as a robust adaptive control architecture with the potential of facilitating the transition of adaptive control into advanced flight control systems.

Original languageEnglish (US)
Pages (from-to)1311-1328
Number of pages18
JournalJournal of Guidance, Control, and Dynamics
Issue number5
StatePublished - 2011

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics


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