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Comparison of architectures and robustness of model reference adaptive controllers and L-1 adaptive controllers

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Author

Summary, in English

The paper compares direct and indirect model reference adaptive controllers (MRAC) with the L-1 adaptive controller. The architectures of the closed-loop systems are first compared in a simple setting that clarifies the similarities and differences of the controllers. The indirect MRAC and the L-1 controller have identical state predictors, but they differ in the computation of the control signal, which in L-1 is carried out by solving a feedback loop. The special case, where the controllers only adapt to a parameter representing input disturbances, is discussed. In this case, the closed-loop system is linear, so it may not be appropriate to call the controllers adaptive. The special case does, however, give good insight into similarities and differences of the controllers and the effects of various modifications. In particular, the analysis gives good understanding of the robustness properties. Copyright (C) 2013 John Wiley & Sons, Ltd.

Publishing year

2014

Language

English

Pages

633-663

Publication/Series

International Journal of Adaptive Control and Signal Processing

Volume

28

Issue

7-8

Document type

Journal article

Publisher

John Wiley & Sons Inc.

Topic

  • Control Engineering

Keywords

  • L-1 adaptive control
  • model reference adaptive control
  • robust control

Status

Published

ISBN/ISSN/Other

  • ISSN: 0890-6327