Stability Margins of $\mathcal{L}_1$ Adaptive Controller: Part II
Optimization and Control
2016-09-07 v1
Abstract
In Part I of this paper, we have developed a novel adaptive control architecture that enables fast adaptation and leads to uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. In this paper, we derive the stability margins of adaptive control architecture, including time-delay and gain margins in the presence of time-varying bounded disturbance. Simulations verify the theoretical findings.
Cite
@article{arxiv.math/0608394,
title = {Stability Margins of $\mathcal{L}_1$ Adaptive Controller: Part II},
author = {Chengyu Cao and Naira Hovakimyan},
journal= {arXiv preprint arXiv:math/0608394},
year = {2016}
}