L1 adaptive output feedback controller for non strictly positive real multi-input multi-output systems in the presence of unknown nonlinearities

Chengyu Cao, Naira Hovakimyan

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

Abstract

This paper presents an extension of the L1 adaptive output feedback controller to Multi-input Multi-output (MIMO) systems in the presence of nonlinear time-varying uncertainties without restricting the rate of their variation. As compared to earlier results in this direction, a new piece-wise continuous adaptive law is introduced along with a low-pass filtered control signal that allows for achieving arbitrarily close tracking of the input and the output signals of a reference system, the transfer function of which is not required to be strictly positive real (SPR). Stability of this reference system is proved using small-gain type argument. The performance bounds between the closed-loop reference system and the closedloop L1 adaptive system can be rendered arbitrarily small by appropriate selection of the underlying filter and by reducing the time-step of integration. Simulations verify the theoretical findings.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Pages5138-5143
Number of pages6
DOIs
StatePublished - Nov 23 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period6/10/096/12/09

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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