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L 1 adaptive control with sliding-mode based adaptive law

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Abstract

This paper presents an adaptive control scheme with an integration of sliding mode control into the L 1 adaptive control architecture,which provides good tracking performance as well as robustness againstmatched uncertainties. Slidingmode control is used as an adaptive law in the L 1 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.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269, U.S.A.

    Jie Luo & Chengyu Cao

Authors
  1. Jie Luo
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  2. Chengyu Cao
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Corresponding author

Correspondence to Jie Luo.

Additional information

Jie LUO received his Ph.D. in Mechanical Engineering from University of Connecticut, Storrs, CT, in 2013. He received his B.Sc. and M.Sc. degrees in Department of Control Science and Engineering from Huazhong University of Science and Technology, Wuhan, China, in 2006 and 2008, respectively. His research interests include theory and applications of adaptive control, nonlinear control, and cooperative control.

Chengyu CAO is an associate professor of mechanical engineering at the University of Connecticut. He joined the University of Connecticut in 2008. Prior to that, he was a research scientist in the Department of Aerospace and Ocean Engineering at Virginia Polytechnic Institute and State University. He received his Ph.D. in Mechanical Engineering from the Massachusetts Institute of Technology in 2004. He earned his B.Sc. degree in Electronics and Information Engineering fromXian Jiaotong University, China, and M.Sc. in Manufacturing Engineering from Boston University in 1995 and 1999, respectively. His research interests are in the areas of dynamics and control, adaptive and intelligent systems, and mechatronics, with a focus on unmanned systems and aerospace applications.

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Luo, J., Cao, C. L 1 adaptive control with sliding-mode based adaptive law. Control Theory Technol. 13, 221–229 (2015). https://doi.org/10.1007/s11768-015-3116-8

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  • DOI: https://doi.org/10.1007/s11768-015-3116-8

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