Guaranteed Transient Performance with \mathcal{L}_1 Adaptive Controller for Systems with Unknown Time-varying Parameters: Part I
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Publication:6477697
arXivmath/0608393MaRDI QIDQ6477697FDOQ6477697
Authors: Chengyu Cao, Naira Hovakimyan 
Publication date: 15 August 2006
Abstract: This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically improved by increasing the adaptation gain. Simulations of a robotic arm with time-varying friction verify the theoretical findings.
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