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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 |
