Real-Time L1 Adaptive Control for Uncertain Networked Control Systems

Xiaofeng Wang, Evgeny Kharisov, Naira Hovakimyan

Research output: Contribution to journalArticle

Abstract

L1 adaptive control is an appealing technology for control of systems in the presence of uncertainties. It addresses the issue of providing guaranteed transient performance and robustness for a class of adaptive architectures. This technical note studies the real-time output-feedback L1 adaptive tracking over real-time networks. Event-triggered communication protocols are presented to schedule data transmission between the plant and the controller. We show that under the proposed scheme the difference between the states of the resulting networked control systems and an ideal model is uniformly bounded, and the bound can be further reduced by improving the communication quality. Stability conditions, in terms of event thresholds, allowable transmission delays, and control parameters, are provided, which can serve as guidance in real-time scheduling.

Original languageEnglish (US)
Article number6985599
Pages (from-to)2500-2505
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume60
Issue number9
DOIs
StatePublished - Sep 1 2015

Keywords

  • Event-triggered communication
  • L1 adaptive control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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