Guaranteed Transient Performance with L1 Adaptive Controller for Systems with Unknown Time-varying Parameters and Bounded Disturbances: Part I

This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbances. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneou...

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Bibliographic Details
Published in2007 American Control Conference pp. 3925 - 3930
Main Authors Chengyu Cao, Hovakimyan, N.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2007
Subjects
Adaptive control
Adaptive systems
Control systems
Frequency
Open loop systems
Programmable control
Stability
Time varying systems
Transient response
Uncertain systems
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ISBN9781424409884
1424409888
ISSN0743-1619
DOI10.1109/ACC.2007.4282485

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Summary:This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbances. The 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. Simulations of a robotic arm with time-varying friction verify the theoretical findings.
ISBN:9781424409884
1424409888
ISSN:0743-1619
DOI:10.1109/ACC.2007.4282485