L1 adaptive controller of nonlinear reference system in presence of unmatched uncertainties

An extension of L 1 adaptive control is proposed for the unmatched uncertain nonlinear system with the nonlinear reference system that defines the performance specifications. The control law adapts fast and tracks the reference system with the guaranteed robustness and transient performance in the p...

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Bibliographic Details
Published inJournal of Central South University Vol. 23; no. 4; pp. 834 - 840
Main Authors Song, Hai-tao, Zhang, Tao, Zhang, Guo-liang
Format Journal Article
LanguageEnglish
Published Changsha Central South University 01.04.2016
Subjects
Control Science and Information Engineering
Engineering
Mechanical Engineering
Metallic Materials
robustness
adaptive controller
L
unmatched uncertainties
transient performance
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ISSN2095-2899
2227-5223
DOI10.1007/s11771-016-3130-0

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Summary:An extension of L 1 adaptive control is proposed for the unmatched uncertain nonlinear system with the nonlinear reference system that defines the performance specifications. The control law adapts fast and tracks the reference system with the guaranteed robustness and transient performance in the presence of unmatched uncertainties. The interval analysis is used to build the quasi-linear parameter-varying model of unmatched nonlinear system, and the robust stability of the proposed controller is addressed by sum of squares programming. The transient performance analysis shows that within the limit of hardware a large adaption gain can improve the asymptotic tracking performance. Simulation results are provided to demonstrate the theoretical findings of the proposed controller.
ISSN:2095-2899
2227-5223
DOI:10.1007/s11771-016-3130-0