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L1 adaptive controller of nonlinear reference system in presence of unmatched uncertainties

  • Mechanical Engineering, Control Science and Information Engineering
  • Published:
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Abstract

An extension of L1 adaptive control is proposed for the unmatched uncertain nonlinear system with the nonlinear reference system that defines the performance specifications. The control law adapts fast and tracks the reference system with the guaranteed robustness and transient performance in the presence of unmatched uncertainties. The interval analysis is used to build the quasi-linear parameter-varying model of unmatched nonlinear system, and the robust stability of the proposed controller is addressed by sum of squares programming. The transient performance analysis shows that within the limit of hardware a large adaption gain can improve the asymptotic tracking performance. Simulation results are provided to demonstrate the theoretical findings of the proposed controller.

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Authors and Affiliations

  1. The Third Department, High-Tech Institute of Xi’an, Xi’an, 710025, China

    Hai-tao Song  (宋海涛) & Guo-liang Zhang  (张国良)

  2. Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing, 100084, China

    Hai-tao Song  (宋海涛) & Tao Zhang  (张涛)

Authors
  1. Hai-tao Song  (宋海涛)
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  2. Tao Zhang  (张涛)
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  3. Guo-liang Zhang  (张国良)
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Correspondence to Hai-tao Song  (宋海涛).

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Song, Ht., Zhang, T. & Zhang, Gl. L1 adaptive controller of nonlinear reference system in presence of unmatched uncertainties. J. Cent. South Univ. 23, 834–840 (2016). https://doi.org/10.1007/s11771-016-3130-0

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  • DOI: https://doi.org/10.1007/s11771-016-3130-0

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