L1 adaptive output feedback control for underactuated MIMO systems

Hanmin Lee; Venanzio Cichella; Naira Hovakimyan

doi:10.1016/j.ifacol.2017.08.1091

L₁ adaptive output feedback control for underactuated MIMO systems

Hanmin Lee, Venanzio Cichella, Naira Hovakimyan

Research output: Contribution to journal › Article › peer-review

Abstract

This paper addresses the problem of output feedback control for underactuated (non-square) MIMO systems with unknown input gain and matched uncertainties. The L₁ adaptive output feedback control architecture in this paper includes a state predictor, an error observer, adaptation laws, and a low-pass filter. It is shown that the proposed control strategy guarantees that the error signals of the closed-loop system are semi-globally bounded. Simulation results are presented to validate the theoretical claims.

Original language	English (US)
Pages (from-to)	5510-5515
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1091
State	Published - Jul 2017

Keywords

Adaptive control
disturbance rejection
output feedback control

ASJC Scopus subject areas

Control and Systems Engineering

Online availability

10.1016/j.ifacol.2017.08.1091

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Cite this

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