TY - JOUR
T1 - Experimental validation of L1 adaptive control
T2 - The Rohrs counterexample in flight
AU - Dobrokhodov, Vladimir
AU - Kaminer, Isaac
AU - Kitsios, Ioannis
AU - Xargay, Enric
AU - Hovakimyan, Naira
AU - Cao, Chengyu
AU - Gregory, Irene M.
AU - Valavani, Lena
N1 - Funding Information:
This work was sponsored in part by NASA grants NNX08AB97A, NNX08AC81A, and NNL08AA12I.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
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U2 - 10.2514/1.50683
DO - 10.2514/1.50683
M3 - Article
AN - SCOPUS:80052681338
VL - 34
SP - 1311
EP - 1328
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
SN - 0731-5090
IS - 5
ER -