L1 Adaptive Control for Systems with Integral Feedback Augmentation
- Resource Type
- Conference
- Authors
- Zhu, Rusong; Wang, Fei; Zhou, Ping; Gu, Zhenghua
- Source
- 2020 39th Chinese Control Conference (CCC) Chinese Control Conference (CCC), 2020 39th. :1855-1860 Jul, 2020
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Adaptive control
Uncertainty
Standards
Adaptation models
Matrices
Stability analysis
Robustness
L1 Adaptive Control
Integral Feedback
Output Tracking Error
Unmodeled Dynamics
- Language
- ISSN
- 1934-1768
L 1 adaptive control is a new adaptive control methodology developed in recent years with good robustness properties and some distinguishing features, such as fast adaptation and guaranteed transient closed-loop response. However, the L 1 adaptive control architecture in various forms in currently available literature has not considered systems with integrated output tracking error as augmented states. This paper extends the L 1 adaptive control architecture to systems with this integral feedback augmentation while retaining the original control performance of L 1 adaptive control. After some proof and discussions about this method, some simulation examples are given to illustrate the effectiveness of the proposed control methods.