L 1 adaptive output feedback control for underactuated MIMO systems

Hanmin Lee; Venanzio Cichella; Naira Hovakimyan

doi:10.1016/j.ifacol.2017.08.1091

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L 1 adaptive output feedback control for underactuated MIMO systems

Hanmin Lee, Venanzio Cichella and Naira Hovakimyan

IFAC-PapersOnLine, Vol.50(1), pp.5510-5515

07/2017

DOI: 10.1016/j.ifacol.2017.08.1091

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Abstract

This paper addresses the problem of output feedback control for underactuated (non-square) MIMO systems with unknown input gain and matched uncertainties. The L1 adaptive output feedback control architecture in this paper includes a state predictor, an error observer, adaptation laws, and a low-pass filter. It is shown that the proposed control strategy guarantees that the error signals of the closed-loop system are semi-globally bounded. Simulation results are presented to validate the theoretical claims.

Details

Title: Subtitle: L 1 adaptive output feedback control for underactuated MIMO systems
Creators: Hanmin Lee
Venanzio Cichella
Naira Hovakimyan
Resource Type: Journal article
Publication Details: IFAC-PapersOnLine, Vol.50(1), pp.5510-5515
DOI: 10.1016/j.ifacol.2017.08.1091
ISSN: 2405-8963
Language: English
Date published: 07/2017
Academic Unit: Mechanical Engineering
Record Identifier: 9984064201502771

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