Abstract
Although adaptive control theory offers mathematical tools to achieve required system performance without excessive dependence on modeling, its application to safety-critical systems can be limited by the presence of unmodeled dynamics. This paper examines the robustness to unmodeled dynamics of a recently developed derivative-free adaptive control law. In contrast to derivative-based adaptive laws it is shown, using a Lyapunov-Krasovskii functional, that robustness to unmodeled dynamics is improved by increasing the adaptation gain. This is accomplished by including a bias term in the set of basic functions employed by the adaptive control law. It is shown that derivative-based adaptive laws do not offer the same advantage. Examples are presented that compare these two forms of adaptation in the context of sensitivity to unmodeled dynamics.
Recommended Citation
T. Yucelen and A. J. Calise, "Robustness of a Derivative-free Adaptive Control Law in the Presence of Unmodeled Dynamics," AIAA Guidance, Navigation, and Control (GNC) Conference, American Institute of Aeronautics and Astronautics, Jan 2013.
The definitive version is available at https://doi.org/10.2514/6.2013-4516
Department(s)
Mechanical and Aerospace Engineering
Publication Status
Full Access
International Standard Book Number (ISBN)
978-162410224-0
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 American Institute of Aeronautics and Astronautics, All rights reserved.
Publication Date
01 Jan 2013
