Guaranteed Transient Performance with L₁ Adaptive Controller for Systems with Unknown Time-varying Parameters: Part I

2006/08/15 by Chengyu Cao, Naira Hovakimyan, Cao, Chengyu +1
Engineering · #93C40 #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #FOS: Mathematics #Iterative Learning Control Systems #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.math/0608393

openalex publication_date 2006/08/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

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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