Guaranteed Transient Performance with L1 Adaptive Controller for Systems with Unknown Time-varying Parameters and Bounded Disturbances: Part I

This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbances. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system´s both signals, input and output, simultaneously. The performance bounds can be systematically improved by increasing the adaptation rate. Simulations of a robotic arm with time-varying friction verify the theoretical findings.