Guaranteed Transient Performance with $\mathcal{L}_1$ Adaptive Controller for Systems with Unknown Time-varying Parameters: Part I
Optimization and Control
2007-05-23 v1
Abstract
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. 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 gain. Simulations of a robotic arm with time-varying friction verify the theoretical findings.
Keywords
Cite
@article{arxiv.math/0608393,
title = {Guaranteed Transient Performance with $\mathcal{L}_1$ Adaptive Controller for Systems with Unknown Time-varying Parameters: Part I},
author = {Chengyu Cao and Naira Hovakimyan},
journal= {arXiv preprint arXiv:math/0608393},
year = {2007}
}