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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| Published in | Journal of Central South University Vol. 23; no. 4; pp. 834 - 840 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Changsha
Central South University
01.04.2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2095-2899 2227-5223 |
| DOI | 10.1007/s11771-016-3130-0 |
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| Abstract | 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. |
|---|---|
| AbstractList | 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. |
| Author | Song, Hai-tao Zhang, Guo-liang Zhang, Tao |
| Author_xml | – sequence: 1 givenname: Hai-tao surname: Song fullname: Song, Hai-tao email: songht1018@163.com organization: The Third Department, High-Tech Institute of Xi’an, Department of Automation, School of Information Science and Technology, Tsinghua University – sequence: 2 givenname: Tao surname: Zhang fullname: Zhang, Tao organization: Department of Automation, School of Information Science and Technology, Tsinghua University – sequence: 3 givenname: Guo-liang surname: Zhang fullname: Zhang, Guo-liang organization: The Third Department, High-Tech Institute of Xi’an |
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| Cites_doi | 10.1002/acs.830 10.1049/iet-cta.2009.0526 10.3166/ejc.14.329-339 10.1007/s11771-010-0560-y 10.1007/s11071-012-0596-7 10.1016/j.automatica.2009.12.005 10.1002/rnc.2928 10.1007/s11771-014-2451-0 10.1080/00207179.2012.731727 10.1007/s11071-012-0439-6 10.1016/j.sysconle.2012.01.010 10.1007/s11071-013-0773-3 10.1007/s11071-013-0919-3 10.1109/TAC.2011.2175058 10.1016/0005-1098(94)00093-X 10.1016/j.cja.2013.04.035 10.1002/rnc.2813 10.1109/9.580878 10.2514/1.54083 |
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| Title | L1 adaptive controller of nonlinear reference system in presence of unmatched uncertainties |
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