L_1 adaptive control with sliding-mode based adaptive law

作     者：Jie LUO Chengyu CAO 

作者机构：Department of Mechanical EngineeringUniversity of Connecticut 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2015年第13卷第3期

页      面：221-229页

核心收录：

学科分类：081504[工学-水利水电工程] 08[工学] 0815[工学-水利工程] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：L1 adaptive control sliding-mode control matched uncertainties 

摘      要：This paper presents an adaptive control scheme with an integration of sliding mode control into the L1 adaptive control architecture, which provides good tracking performance as well as robustness against matched uncertainties. Sliding mode control is used as an adaptive law in the L1 adaptive control architecture, which is considered as a virtual control of error dynamics between estimated states and real states. Low-pass filtering mechanism in the control law design prevents a discontinuous signal in the adaptive law from appearing in actual control signal while maintaining control accuracy. By using sliding mode control as a virtual control of error dynamics and introducing the low-pass filtered control signal, the chattering effect is eliminated. The performance bounds between the close-loop adaptive system and the closed-loop reference system are characterized in this paper. Numerical simulation is provided to demonstrate the performance of the presented adaptive control scheme.