Generalization of proportional adaptation law for L1 adaptive controller

Justin Vanness, Evgeny Kharisov, Naira Hovakimyan

Research output: Contribution to journalConference article

Abstract

The paper presents a generalized framework for an L1 adaptive state-feedback controller with proportional adaptation gain. Using the decoupling property for estimation and control loops of the L1 adaptive controller, we show that this generalized architecture has the potential of unifying several nonlinear control methods in a single framework. In all cases, the proposed controller, similar to other L1 controllers, offers systematic tuning of robustness and performance bounds, by increasing the adaptation gain and careful selection of the lowpass filter. Simulations verify the theoretical findings.

Original languageEnglish (US)
Article number6425855
Pages (from-to)3215-3220
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
StatePublished - Dec 1 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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