Generalization of proportional adaptation law for L1 adaptive controller

Justin Vanness; Evgeny Kharisov; Naira Hovakimyan

doi:10.1109/CDC.2012.6425855

Generalization of proportional adaptation law for L₁ adaptive controller

Justin Vanness, Evgeny Kharisov, Naira Hovakimyan

Research output: Contribution to journal › Conference article › peer-review

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 language	English (US)
Article number	6425855
Pages (from-to)	3215-3220
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/CDC.2012.6425855
State	Published - 2012
Event	51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: Dec 10 2012 → Dec 13 2012

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2012.6425855

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Cite this

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title = "Generalization of proportional adaptation law for L1 adaptive controller",

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.",

author = "Justin Vanness and Evgeny Kharisov and Naira Hovakimyan",

year = "2012",

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journal = "Proceedings of the IEEE Conference on Decision and Control",

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AB - 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.

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