L1 adaptive controller for MIMO systems with unmatched uncertainties using modified piecewise constant adaptation law

Zhiyuan Li; Naira Hovakimyan

doi:10.1109/CDC.2012.6425935

L₁ adaptive controller for MIMO systems with unmatched uncertainties using modified piecewise constant adaptation law

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

Abstract

This paper presents the L₁ adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L₁ adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.

Original language	English (US)
Article number	6425935
Pages (from-to)	7303-7308
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/CDC.2012.6425935
State	Published - Dec 1 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

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abstract = "This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.",

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AB - This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.

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