L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree
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| Format: | Preprint |
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2019
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| _version_ | 1866915071453560832 |
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| author | Lee, Hanmin Cichella, Venanzio Hovakimyan, Naira |
| author_facet | Lee, Hanmin Cichella, Venanzio Hovakimyan, Naira |
| contents | 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. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_1901_07427 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree Lee, Hanmin Cichella, Venanzio Hovakimyan, Naira Optimization and Control Systems and Control 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. |
| title | L1 Adaptive Output Feedback for Non-square Systems with Arbitrary Relative Degree |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/1901.07427 |