Title :
Filter Design for ℒ1 Adaptive Output-Feedback Controller
Author :
Kim, Kwang Ki Kevin ; Kharisov, Evgeny ; Hovakimyan, Naira
Author_Institution :
Dept. of Aerosp. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Abstract :
In this paper we exploit the connection between disturbance observer and L1 adaptive control theories. We consider L1 adaptive output-feedback control framework, for which the L1 reference controller is equivalent to the disturbance observer. Using this fact, we investigate several properties of the disturbance observer architecture, leading to various filter design methods towards verification of the stability conditions for the L1 adaptive output-feedback controller.
Keywords :
adaptive control; feedback; filtering theory; observers; stability; L1 adaptive control theories; L1 adaptive output-feedback controller; L1 reference controller; disturbance observer architecture; filter design methods; stability conditions; Observers; Polynomials; Robust stability; Robustness; Stability analysis; Transfer functions; Uncertainty;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6161476
