L1 adaptive control theory 7 appeared recently as a. Problem formulation in l1 adaptive control the conventional problem formulation in l1 adaptive control theory is given as follows. L1 adaptive control for indoor autonomous vehicles. A robust adaptive control architecture for disturbance. Comparison of l1 adaptive augmentation strategies for a. This book presents a comprehensive overview of the recently developed l1 adaptive control theory, including detailed proofs of the main results.
The key feature of l1 adaptive control architecture is guaranteed robustness in the presence of fast adaptation. It covers fundamentals of lyapunov stability theory and robust control, presents methods of direct and indirect model reference adaptive control, and places the focus on l1 adaptive control. This course presents a rigorous mathematical foundation for the synthesis and analysis of robust adaptive control systems. This item is not supplied by cambridge university press in your region. Citeseerx tutorial, med 20 1 l1 adaptive control and. L1 adaptive controller for mimo systems with unmatched uncertainties using modified piecewise constant adaptation law. L1 adaptive control design of a helicopter in vertical flight. Publications advanced controls research laboratory. L1 adaptive control augmentation system with application to the x29 lateraldirectional dynamics. The best way to learn is to follow the book in all the details. An adaptive control scheme known as l1 adaptive control is used to ensure that this reference model behavior is realistic, so that robustness may be maintained even with very fast adaptation. Guaranteed bounded away from zero timedelay margin.
Guaranteed robustness with fast adaptation advances in design and control, series number 21 hovakimyan, naira, cao. Guaranteed robustness with fast adaptation l1 adaptive control theory presents a new and efficient way of developing control laws for highly uncertain or rapidly. Guaranteed robustness with fast adaptation advances in design and control 793 21 10mb read more the filter bubble. As a result, the adaptation gains in the architecture are limited only by the available hardware, as cpu and sensor sampling.
Pdf l 1 adaptive control theory guaranteed robustness with. Read the following papers following the highlighted guideline. In this paper, we present a novel adaptive control architecture that ensures that the input and output of an uncertain linear system track the input and output of a desired linear system during. The architectures of l 1 adaptive control theory have guaranteed transient performance and guaranteed robustness in the presence of fast adaptation, without introducing or enforcing persistence of excitation, without gain scheduling in the controller. Sep 15, 2011 the book describes a new method known as l1 adaptive control for bringing linear system design methods into adaptive control to confront several open problems, including the selection and tuning of adaptation gains, guaranteed transient performance of both states and controls, and guaranteed robustness margins. Especially when large impact force exerted, the submarine is able to restore itself to original position and altitude in a short time. L1 adaptive control theory presents a new and efficient way of developing control laws for highly uncertain or rapidly changing environments. This is possible to achieve by appropriate formulation of the control objective. Hovering control of submarine based on l1 adaptive theory via. Various examples will be discussed throughout the course to illustrate the results.
The sliding surface is a geometrical locus consisting of all. Fast adaptation to allow aggressive maneuvering and recovery from failures is also. Guaranteed robustness with fast adaptation paperback sept. Trajectory tracking for aggressive quadrotor flight using. Request pdf what is l1 adaptive control recently, a class of adaptive control. The main benefit of g1 adaptive control is its fast and robust adaptation, which does not interact with the tradeoff between performance and robustness. Pdf this article presents the development of l1 adaptive control theory and its application to safety critical flight control system fcs. The recently developed l1 adaptive control method originates from aerospace adaptive control problems and achieves fast adaptation while robust stability to bounded plant parameter changes is claimed. For those who are interested in l1 adaptive control theory and want to apply it to their systems, here is a short tutorial with papers and some matlabsimulink programs. Guaranteed robustness with fast adaptation speyer, jason l.
L1 adaptive control tutorials naira hovakimyan illinois. What is l1 adaptive control request pdf researchgate. Linear controller is designed as baseline controller to provide preliminary improvement in performance and robustness. Pdf l 1 adaptive control theory guaranteed robustness. The architectures of l1 adaptive control theory have guaranteed transient performance and robustness in the presence of fast adaptation, without enforcing persistent excitation, applying. Csl professor receives aiaa pendray aerospace literature. Jan 01, 2011 l1 adaptive controller introduces a separation between adaptation and robustness, and for the first time allows for arbitrary increase of the rate of adaptation with guaranteed timedelay margin, bounded away from zero cao and hovakimyan 2008, 2010. The key feature of this new theory is the decoupling of adaptation from robustness. In fact, the ltering structure provides a tradeo between robustness and performance.
L1 adaptive control deals with fast adaptation by decoupling robustness and performance using a lowpass filter 8. A multiinput multioutput approach this paper presents an lsub 1 adaptive control augmentation system design for multiinput multioutput nonlinear systems in the presence of unmatched uncertainties which may exhibit significant crosscoupling effects. A nonlinear feedforward term is also added to the control law based on the measurement or estimation of in this application, the trust gain kf f is set to 1 but could the recycle steam flow. The architectures of l1 adaptive control theory have guaranteed transient performance and guaranteed robustness in the presence of fast adaptation, without introducing. A control strategy is built based on the novel l1 adaptive uf f t kf f sf f t 20 controller. Hovering control of submarine based on l1 adaptive theory. Considering the existence of uncertainties and disturbances, we propose l 1 adaptive controller with modified piecewise constant adaptation law to augment the baseline controllers. Possible instability in the presence of even small measurement noises and disturbances. The adaptation gain g affects only the fast estimation loop red, while the. Sep 30, 2010 l1 adaptive control theory presents a new and efficient way of developing control laws for highly uncertain or rapidly changing environments.
Guaranteed robustness with fast adaptation advances in design and control. Part i c cao, n hovakimyan 2007 american control conference, 39253930, 2007. Robust adaptive control advanced controls research. L1 adaptive control theory introduction l1 adaptive control theory some features. Guaranteed robustness with fast adaptation, was published by hovakimyan and chengyu cao of the university of connecticut in 2010. May 23, 2012 american institute of aeronautics and astronautics 12700 sunrise valley drive, suite 200 reston, va 201915807 703. The present alternative architecture enables decoupling of the adaptation loop from robustness, which is essential in ensuring fast adaptation corresponding to. L1 adaptive control theory guaranteed robustness with fast adaptation. Citeseerx tutorial, med 20 1 l1 adaptive control and its. L1 adaptive control design for nasa airstar flight test vehicle.
Since being printed, the book has led to the creation of a class that hovakimyan teaches, both of which have become famous across the country. The architectures of l1 adaptive control theory have guaranteed transient performance and guaranteed robustness in the presence of fast adaptation, without introducing or enforcing persistence of excitation, without any gain scheduling in the controller parameters, and without resorting to highgain feedback. Guaranteed robustness with fast adaptation advances in design and control 787 21 10mb read more the filter bubble. The benefit of l1 architecture is that it does not invert the desired system dynamics, which is unavoidable in several lti architectures of robust control. The architectures of l1 adaptive control theory have guaranteed transient performance and robustness in the presence of fast adaptation, without enforcing. The architectures of l1 adaptive control theory aim for partial compensation of uncertainties within the bandwidth of the control channel. Separation decoupling between adaptation and robustness. To summarize, apply l1 adaptive theory on controlling hovering tanks, the maneuverability and robustness of submarine at extremely low speed is guaranteed. Jan 01, 20 an l1 adaptive controller has guaranteed transient performance for both the system input and output and robustness in the presence of fast adaptation limited only by hardware, without the need for gain scheduling the controller parameters and without resorting to highgain feedback. The key feature of the l1 adaptive control theory is the decoupling of adaptation from robustness. Guaranteed transient performance with l1 adaptive controller for systems with unknown timevarying parameters and bounded disturbances. L1 adaptive control theory, which helped me to quickly gain knowledge necessary for pro. Guaranteed robustness with fast adaptation, by naira hovakimyan and chengyu cao, describes a new method known as l1 adaptive control for bringing linear system design methods into adaptive control to confront several open problems, including the selection and tuning of adaptation gains.
With l1 adaptive control architecture, fast adaptation appears to be bene. A key challenge well known in adaptive control is parameter drift during. Pdf l1 adaptive control theory guaranteed robustness with. Guaranteed robustness with fast adaptation the time step used in this experiment was 0. Application of l1 adaptive controller to longitudinal.
C ontrol d esign the feedforward control signal becomes. The speed of adaptation in these architectures is limited only by the available hardware, while robustness is resolved via conventional methods from classical and robust control. Pdf design and analysis of a novel l1 adaptive controller. Uncertain nonlinear system control is a challenging topic in the field of control theory and application. Guaranteed robustness with fast adaptation has 1 available editions to buy at half price books marketplace. Pdf adaptive control for safetycritical systems researchgate. Jan 28, 2016 pdf download robust and adaptive control with aerospace applications advanced textbooks in control pdf full ebook. American institute of aeronautics and astronautics 12700 sunrise valley drive, suite 200 reston, va 201915807 703.
Guaranteed transient performance inputs and outputs. The key feature of the l1 adaptive control sliding mode control systems mechanical note, that has a good journal publications. L1 adaptive control design of a helicopter in vertical. Trajectory tracking for aggressive quadrotor flight using l1. More recently, the authors in present a model reference adaptive control architecture for fast adaptation predicated on an optimal control problem. L1 adaptive control theory naira hovakimyan haftad. Jan 01, 2010 the architectures of l1 adaptive control theory have guaranteed transient performance and robustness in the presence of fast adaptation, without enforcing persistent excitation, applying. L 1 adaptive control of a generic hypersonic vehicle model.
L1 adaptive control theory guaranteed robustness fast. Timecritical cooperative control of autonomous air vehicles. Pdf this article presents the development of l1 adaptivecontrol theory and its application to safety critical flight control system fcs. The inclusion of a lowpass lter not only guarantees a bandwidthlimited control signal, but also allows for an arbitrarilyhigh adaptation rate limited only by available computational resources. Multicriteria optimization for filter design of l1. Second, due to the filter the tracking error is no longer g. This article presents l 1 adaptive control scheme for vertical flight control of helicopter.
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