L1 adaptive controller for time-varying reference systems in the presence of unmodeled nonlinear dynamics

Evgeny Kharisov, Naira Hovakimyan, Jiang Wang, Chengyu Cao

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

Abstract

This paper presents the L1 adaptive controller for a class of uncertain nonlinear systems in the presence of time and state dependent unknown nonlinearities with unmodeled nonlinear dynamics. The L1 controller achieves performance specifications, defined via a time-varying reference system. We prove that subject to standard regularity assumptions, the L 1 adaptive controller ensures uniformly bounded transient and steady-state tracking for system's input and output signals simultaneously. The performance bounds can be systematically improved by increasing the rate of adaptation. Simulations of a nonlinear system, coupled to a Lorenz attractor, verify the theoretical findings.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages886-891
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Kharisov, E., Hovakimyan, N., Wang, J., & Cao, C. (2010). L1 adaptive controller for time-varying reference systems in the presence of unmodeled nonlinear dynamics. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 886-891). [5530476] (Proceedings of the 2010 American Control Conference, ACC 2010).