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L_1 adaptive control with sliding-mode based adaptive law
J.Luo,C.Cao
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(Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269, U.S.A.)
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Revised:May 02, 2015
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L1 adaptive control with sliding-mode based adaptive law
J. Luo,C. Cao
(Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269, U.S.A.)
Abstract:
This paper presents an adaptive control scheme with an integration of sliding mode control into the $\mathcal{L}_1$ adaptive control architecture, which provides good tracking performance as well as robustness against matched uncertainties. Sliding mode control is used as an adaptive law in the $\mathcal{L}_1$ adaptive control architecture, which is considered as a virtual control of error dynamics between estimated states and real states. Low-pass filtering mechanism in the control law design prevents a discontinuous signal in the adaptive law from appearing in actual control signal while maintaining control accuracy. By using sliding mode control as a virtual control of error dynamics and introducing the low-pass filtered control signal, the chattering effect is eliminated. The performance bounds between the close-loop adaptive system and the closed-loop reference system are characterized in this paper. Numerical simulation is provided to demonstrate the performance of the presented adaptive control scheme.
Key words:  $\mathcal{L}_1$ adaptive control, sliding-mode control, matched uncertainties