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 | |
| 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 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization
Cite this
L1 adaptive controller for MIMO systems with unmatched uncertainties using modified piecewise constant adaptation law. / Li, Zhiyuan; Hovakimyan, Naira.
In: Proceedings of the IEEE Conference on Decision and Control, 01.12.2012, p. 7303-7308.Research output: Contribution to journal › Conference article
}
TY - JOUR
T1 - L1 adaptive controller for MIMO systems with unmatched uncertainties using modified piecewise constant adaptation law
AU - Li, Zhiyuan
AU - Hovakimyan, Naira
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84874247107&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84874247107&partnerID=8YFLogxK
U2 - 10.1109/CDC.2012.6425935
DO - 10.1109/CDC.2012.6425935
M3 - Conference article
AN - SCOPUS:84874247107
SP - 7303
EP - 7308
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
SN - 0191-2216
M1 - 6425935
ER -