Comparison of Several Adaptive Controllers According to Their Robustness Metrics
(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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/4173063
- author
- Kharisov, Evgeny ; Hovakimyan, Naira and Åström, Karl Johan LU
- organization
- publishing date
- 2010
- type
- Contribution to conference
- publication status
- published
- subject
- conference name
- 2010 AIAA Guidance, Navigation and Control Conference
- conference location
- Toronto, Canada
- conference dates
- 2010-08-02 - 2010-08-05
- external identifiers
-
- scopus:84867803663
- language
- English
- LU publication?
- yes
- id
- 8fabbbdc-c8d6-4add-a201-25407388938c (old id 4173063)
- date added to LUP
- 2016-04-04 14:06:39
- date last changed
- 2024-05-12 05:10:43
@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}},
}