Generalization of proportional adaptation law for L1 adaptive controller
نویسندگان
چکیده
The paper presents a generalized framework for an L1 adaptive state-feedback controller with proportional adaptation gain. Using the decoupling property for estimation and control loops of the L1 adaptive controller, we show that this generalized architecture has the potential of unifying several nonlinear control methods in a single framework. In all cases, the proposed controller, similar to other L1 controllers, offers systematic tuning of robustness and performance bounds, by increasing the adaptation gain and careful selection of the lowpass filter. Simulations verify the theoretical findings.
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