Comparison of architectures and robustness of model reference adaptive controllers and L-1 adaptive controllers
(2014) In International Journal of Adaptive Control and Signal Processing 28(7-8). p.633-663- Abstract
- The paper compares direct and indirect model reference adaptive controllers (MRAC) with the L-1 adaptive controller. The architectures of the closed-loop systems are first compared in a simple setting that clarifies the similarities and differences of the controllers. The indirect MRAC and the L-1 controller have identical state predictors, but they differ in the computation of the control signal, which in L-1 is carried out by solving a feedback loop. The special case, where the controllers only adapt to a parameter representing input disturbances, is discussed. In this case, the closed-loop system is linear, so it may not be appropriate to call the controllers adaptive. The special case does, however, give good insight into similarities... (More)
- The paper compares direct and indirect model reference adaptive controllers (MRAC) with the L-1 adaptive controller. The architectures of the closed-loop systems are first compared in a simple setting that clarifies the similarities and differences of the controllers. The indirect MRAC and the L-1 controller have identical state predictors, but they differ in the computation of the control signal, which in L-1 is carried out by solving a feedback loop. The special case, where the controllers only adapt to a parameter representing input disturbances, is discussed. In this case, the closed-loop system is linear, so it may not be appropriate to call the controllers adaptive. The special case does, however, give good insight into similarities and differences of the controllers and the effects of various modifications. In particular, the analysis gives good understanding of the robustness properties. Copyright (C) 2013 John Wiley & Sons, Ltd. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/4659345
- author
- Kharisov, Evgeny ; Hovakimyan, Naira and Åström, Karl Johan LU
- organization
- publishing date
- 2014
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- L-1 adaptive control, model reference adaptive control, robust control
- in
- International Journal of Adaptive Control and Signal Processing
- volume
- 28
- issue
- 7-8
- pages
- 633 - 663
- publisher
- John Wiley & Sons Inc.
- external identifiers
-
- wos:000340387300005
- scopus:84905234982
- ISSN
- 0890-6327
- DOI
- 10.1002/acs.2419
- language
- English
- LU publication?
- yes
- id
- a9b94e6c-1152-4588-bf8a-6cdb4181a7a5 (old id 4659345)
- date added to LUP
- 2016-04-01 10:12:32
- date last changed
- 2022-01-25 20:53:53
@article{a9b94e6c-1152-4588-bf8a-6cdb4181a7a5, abstract = {{The paper compares direct and indirect model reference adaptive controllers (MRAC) with the L-1 adaptive controller. The architectures of the closed-loop systems are first compared in a simple setting that clarifies the similarities and differences of the controllers. The indirect MRAC and the L-1 controller have identical state predictors, but they differ in the computation of the control signal, which in L-1 is carried out by solving a feedback loop. The special case, where the controllers only adapt to a parameter representing input disturbances, is discussed. In this case, the closed-loop system is linear, so it may not be appropriate to call the controllers adaptive. The special case does, however, give good insight into similarities and differences of the controllers and the effects of various modifications. In particular, the analysis gives good understanding of the robustness properties. Copyright (C) 2013 John Wiley & Sons, Ltd.}}, author = {{Kharisov, Evgeny and Hovakimyan, Naira and Åström, Karl Johan}}, issn = {{0890-6327}}, keywords = {{L-1 adaptive control; model reference adaptive control; robust control}}, language = {{eng}}, number = {{7-8}}, pages = {{633--663}}, publisher = {{John Wiley & Sons Inc.}}, series = {{International Journal of Adaptive Control and Signal Processing}}, title = {{Comparison of architectures and robustness of model reference adaptive controllers and L-1 adaptive controllers}}, url = {{http://dx.doi.org/10.1002/acs.2419}}, doi = {{10.1002/acs.2419}}, volume = {{28}}, year = {{2014}}, }