Adaptation is unnecessary in L1 adaptive control

Roméo Ortega (1, 1) , Elena Panteley (1, 1)

1 L2S - Laboratoire des signaux et systèmes

The basic premise upon which adaptive control is based is the existence of a parameterized controller that achieves the control objective. Moreover, it is assumed that these parameters are not known but that they can be estimated online from measurements of the plant signals. Toward this end, an identifier is added to generate the parameter estimates. Then, applying a certainty equivalence principle, these estimates are directly applied in the aforementioned control law; see [1]-[3].

Domaines: Automatique; Automatique / Robotique

Roméo Ortega, Elena Panteley. Adaptation is unnecessary in L1 adaptive control. IEEE Control Systems Magazine, 2016, 36 (1), pp.47-52. ⟨10.1109/mcs.2015.2495023⟩. ⟨hal-01261963⟩