L1 adaptive output feedback control for underactuated MIMO systems

被引：2
|
作者：
Lee, Hanmin [1 ]
Cichella, Venanzio [1 ]
Hovakimyan, Naira [1 ]
机构：
[1] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Adaptive control; output feedback control; disturbance rejection; NONLINEAR-SYSTEMS;
D O I：
10.1016/j.ifacol.2017.08.1091
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the problem of output feedback control for underactuated (non square) MIMO systems with unknown input gain and matched uncertainties. The L1 adaptive output feedback control architecture in this paper includes a state predictor, an error observer, adaptation laws, and a low-pass filter. It is shown that the proposed control strategy guarantees that the error signals of the closed-loop system are semi-globally bounded. Simulation results are presented to validate the theoretical claims. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：5510 / 5515
页数：6
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