Limiting behavior of L1 adaptive controllers

Evgeny Kharisov, Kwang Ki Kevin Kim, Xiaofeng Wang, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper analyzes the limiting behavior of L1 adaptive controllers in the presence of fast adaptation. For linear systems it is shown that the L1 adaptive controllers approximate an implementable non-adaptive linear controller, when the adaptation rate approaches infinity. This implies that both the L1 adaptive and the limiting non-adaptive control systems achieve the same control objective. The essential difference between the two systems is in the synthesis of the feedback signal. In the limiting non-adaptive system the feedback signal makes explicit use of the system inverse, while the fast estimation loop of the L1 adaptive controller approximates this inverse map, avoiding the explicit system inversion. This property of the adaptive architecture is essential for its extension to nonlinear systems and also for accommodating various hardware constraints.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Limiting behavior of L<sub>1</sub> adaptive controllers'. Together they form a unique fingerprint.

  • Cite this

    Kharisov, E., Kim, K. K. K., Wang, X., & Hovakimyan, N. (2011). Limiting behavior of L1 adaptive controllers. In AIAA Guidance, Navigation, and Control Conference 2011 (AIAA Guidance, Navigation, and Control Conference 2011).