L1 Adaptive Control and Its Transition to （L1自适应控制及其过渡）.pdf

Naira Hovakimyan Tutorial, MED 2013 L1 Adaptive Control and Its Transition to Practice Naira Hovakimyan Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign Tutorial Abstract L1 adaptive control is a powerful tool for controlling systems in the presence of large uncertainties, unmodeled dynamics and disturbances, [1]. Its development was motivated by the practical realization problems of model reference adaptive control (MRAC), in which the lack of the transient guarantees and robustness were preventing the transitions to real world problems, [2, 3]. The L1 adaptive control theory offers a class of architectures, for which adaptation is decoupled from robustness. The speed of adaptation in these architectures is limited only by the available hardware, while robustness is resolved via conventional methods from classical and robust control. The architectures of L1 adaptive control theory have guaranteed transient performance and guaranteed robustness in the presence of fast adaptation, without introducing or enforcing persistence of excitation, without any gain scheduling in the controller parameters, and without resorting to high--gain feedback. With L1 adaptive controller in the feedback loop, the response of the closed--loop system can be predicted a priori, thus significantly reducing th