Guaranteed transient performance with ℒ1 adaptive controller for systems with unknown time-varying parameters and bounded disturbances: Part I

Chengyu Cao; Naira Hovakimyan

doi:10.1109/ACC.2007.4282485

Guaranteed transient performance with ℒ₁ adaptive controller for systems with unknown time-varying parameters and bounded disturbances: Part I

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbances. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically improved by increasing the adaptation rate. Simulations of a robotic arm with time-varying friction verify the theoretical findings.

Original language	English (US)
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Pages	3925-3930
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2007.4282485
State	Published - 2007
Externally published	Yes
Event	2007 American Control Conference, ACC - New York, NY, United States Duration: Jul 9 2007 → Jul 13 2007

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2007 American Control Conference, ACC
Country/Territory	United States
City	New York, NY
Period	7/9/07 → 7/13/07

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.1109/ACC.2007.4282485

Library availability

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Cite this

Guaranteed transient performance with ℒ₁ adaptive controller for systems with unknown time-varying parameters and bounded disturbances: Part I. / Cao, Chengyu; Hovakimyan, Naira.
Proceedings of the 2007 American Control Conference, ACC. 2007. p. 3925-3930 4282485 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cao, C & Hovakimyan, N 2007, Guaranteed transient performance with ℒ₁ adaptive controller for systems with unknown time-varying parameters and bounded disturbances: Part I. in Proceedings of the 2007 American Control Conference, ACC., 4282485, Proceedings of the American Control Conference, pp. 3925-3930, 2007 American Control Conference, ACC, New York, NY, United States, 7/9/07. https://doi.org/10.1109/ACC.2007.4282485

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