L1adaptive output feedback controller for nonlinear systems in the presence of unmodeled dynamics

Authors:
Enric Xargay;Naira Hovakimyan;Chengyu Cao
Affiliations:
UIUC, Urbana, IL;UIUC, Urbana, IL;UConn, Storrs, CT
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
Cited 0

Transient-performance improvement with a new class of adaptive controllers

Systems & Control Letters
Robust adaptive control

Robust adaptive control

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Abstract

This paper presents the L1 adaptive output feed-back controller for a class of uncertain nonlinear systems in the presence of time and state dependent unknown nonlinearities, and multiplicative unmodeled dynamics. The L1 adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically improved by increasing the adaptation rate.