Abstract

L1 adaptive control (L1AC) theory gives uniform steady-state and transient performance bounds on state variables and control inputs and delay margin guarantees. These guarantees are strict and can be conservative as they are derived from the small gain theorem. On the other hand, a recently-developed verification tool – Verse [1] computes over-approximations of reachable sets from simulation data for particular problem instances and can provide more realistic and less conservative performance bounds. Prior work on the verification and validation (V&V) of control design specifications and performance metrics primarily centered on optimizing design parameters through optimization or parameter variable space exploration. However, analyzing highly nonlinear systems poses challenges in mathematical analysis and performance-bound quantification, leading to a case-by-case approach to observing the design guidelines. In this paper, we propose a general framework that leverages Verse to establish verification for L1AC design specifications. Furthermore, design guidelines for closed-loop nonlinear systems with L1AC are observed from the verification results and can be instructive for control development.

Original languageEnglish (US)
Title of host publicationAIAA SciTech Forum and Exposition, 2024
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624107115
DOIs
StatePublished - 2024
EventAIAA SciTech Forum and Exposition, 2024 - Orlando, United States
Duration: Jan 8 2024Jan 12 2024

Publication series

NameAIAA SciTech Forum and Exposition, 2024

Conference

ConferenceAIAA SciTech Forum and Exposition, 2024
Country/TerritoryUnited States
CityOrlando
Period1/8/241/12/24

ASJC Scopus subject areas

  • Aerospace Engineering

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