Abstract
Adaptive controllers are often criticized for the lack of clear and easy verification procedures that relate design parameters to time domain performance especially during transients. For this reason, it is a challenge to rigorously certify existing adaptive control algorithms. To that end, we propose a validation framework where stability and performance requirements are formulated in terms of Linear Matrix Inequalities. This brings the advantage that adaptive controller design and verification can be analyzed and optimized via the solution of a convex optimization whose objective is to guarantee the evolution of the error components within an a-priori specified domain. This approach was cast to verify the performance of the recently introduced Frequency-limited adaptive control scheme. A detailed case study is presented to show the efficacy of the proposed verification architecture.
Recommended Citation
M. L. Fravolini et al., "Verifiable Frequency-limited Adaptive Control Performance based on Linear Matrix Inequalities," Proceedings of the IEEE Conference on Decision and Control, pp. 6641 - 6646, article no. 7040431, Institute of Electrical and Electronics Engineers, Jan 2014.
The definitive version is available at https://doi.org/10.1109/CDC.2014.7040431
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-147997746-8
International Standard Serial Number (ISSN)
2576-2370; 0743-1546
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jan 2014
