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Comparison of Several Adaptive Controllers According to Their Robustness Metrics

Kharisov, Evgeny; Hovakimyan, Naira and Åström, Karl Johan LU (2010) 2010 AIAA Guidance, Navigation and Control Conference
Abstract
This paper compares the performance and the robustness of several linear adaptive controllers using a linear system with time–varying disturbance in the presence of measurement noise. For the purpose of comparison we select the direct and indirect model reference adaptive controller (MRAC), the direct MRAC with σ–modification, and the L1 adaptive controller. Using tools from linear systems theory we compute the stability margins of these controllers and examine the performance of these closed–loop systems via analysis of several important transfer functions between the system’s inputs and outputs. In this paper we also investigate some properties of the piecewise constant update laws, introduced in recent L1 papers, and provide an... (More)
This paper compares the performance and the robustness of several linear adaptive controllers using a linear system with time–varying disturbance in the presence of measurement noise. For the purpose of comparison we select the direct and indirect model reference adaptive controller (MRAC), the direct MRAC with σ–modification, and the L1 adaptive controller. Using tools from linear systems theory we compute the stability margins of these controllers and examine the performance of these closed–loop systems via analysis of several important transfer functions between the system’s inputs and outputs. In this paper we also investigate some properties of the piecewise constant update laws, introduced in recent L1 papers, and provide an interpretation to draw some insights. Finally, we validate the conclusions in simulations. (Less)
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2010 AIAA Guidance, Navigation and Control Conference
external identifiers
  • Scopus:84867803663
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English
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yes
id
8fabbbdc-c8d6-4add-a201-25407388938c (old id 4173063)
date added to LUP
2013-11-20 12:26:31
date last changed
2016-10-13 04:59:58
@misc{8fabbbdc-c8d6-4add-a201-25407388938c,
  abstract     = {This paper compares the performance and the robustness of several linear adaptive controllers using a linear system with time–varying disturbance in the presence of measurement noise. For the purpose of comparison we select the direct and indirect model reference adaptive controller (MRAC), the direct MRAC with σ–modification, and the L1 adaptive controller. Using tools from linear systems theory we compute the stability margins of these controllers and examine the performance of these closed–loop systems via analysis of several important transfer functions between the system’s inputs and outputs. In this paper we also investigate some properties of the piecewise constant update laws, introduced in recent L1 papers, and provide an interpretation to draw some insights. Finally, we validate the conclusions in simulations.},
  author       = {Kharisov, Evgeny and Hovakimyan, Naira and Åström, Karl Johan},
  language     = {eng},
  title        = {Comparison of Several Adaptive Controllers According to Their Robustness Metrics},
  year         = {2010},
}