L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree

Hanmin Lee; Venanzio Cichella; Naira Hovakimyan

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L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree

Hanmin Lee, Venanzio Cichella and Naira Hovakimyan

ArXiv.org

01/22/2019

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https://arxiv.org/abs/1901.07427View

Preprint (Author's original)This preprint has not been evaluated by subject experts through peer review. Preprints may undergo extensive changes and/or become peer-reviewed journal articles. Open Access

Abstract

This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right interactor matrix and a suitably defined projection matrix. A state-output predictor, a low-pass filter, and adaptive laws are introduced that achieve output tracking of a desired reference signal. It is shown that the proposed control strategy guarantees closed-loop stability with arbitrarily small steady-state errors. The transient performance in the presence of non-zero initialization errors is quantified in terms of decreasing functions. Rigorous mathematical analysis and illustrative examples are provided to validate the theoretical claims.

Details

Title: Subtitle: L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree
Creators: Hanmin Lee
Venanzio Cichella
Naira Hovakimyan
Resource Type: Preprint
Publication Details: ArXiv.org
ISSN: 2331-8422
Language: English
Date posted: 01/22/2019
Academic Unit: Mechanical Engineering
Record Identifier: 9984201544802771

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