Abstract
This paper considers uncertain time-varying nonlinear affine-in-control systems and presents the L1 adaptive controller for the case when the performance specifications are defined via a given time-varying nonlinear system. The L1 adaptive controller ensures that the nonlinear, affine-in-control, uncertain system follows its ideal nonlinear model during the transient and steady-state, if the adaptation gain is selected sufficiently large and the bandwidth of the low-pass filter in the L1 adaptive control architecture is adjusted appropriately.
Original language | English (US) |
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Pages (from-to) | 455-463 |
Number of pages | 9 |
Journal | Systems and Control Letters |
Volume | 61 |
Issue number | 4 |
DOIs | |
State | Published - Apr 2012 |
Keywords
- Adaptive control
- Nonlinear systems
ASJC Scopus subject areas
- Control and Systems Engineering
- General Computer Science
- Mechanical Engineering
- Electrical and Electronic Engineering