L 1 Adaptive Control for Systems with Integral Feedback Augmentation
chinese control conference(2020)
Abstract
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.
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Key words
L1 Adaptive Control,Integral Feedback,Output Tracking Error,Robustness,Unmodeled Dynamics
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