Comparison of Several Adaptive Controllers According to Their Robustness Metrics
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2010
Språk
Engelska
Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Conference name
2010 AIAA Guidance, Navigation and Control Conference
Conference date
2010-08-02 - 2010-08-05
Conference place
Toronto, Canada
Status
Published
Forskningsgrupp
- LCCC