L1 adaptive control with sliding-mode based adaptive law
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 contr...
Gespeichert in:
| Veröffentlicht in: | Control theory and technology 2015-08, Vol.13 (3), p.221-229 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 229 |
|---|---|
| container_issue | 3 |
| container_start_page | 221 |
| container_title | Control theory and technology |
| container_volume | 13 |
| creator | Luo, Jie Cao, Chengyu |
| description | 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. |
| doi_str_mv | 10.1007/s11768-015-3116-8 |
| format | Article |
| fullrecord | <record><control><sourceid>wanfang_jour_sprin</sourceid><recordid>TN_cdi_wanfang_journals_kzllyyy_e201503002</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><cqvip_id>665948943</cqvip_id><wanfj_id>kzllyyy_e201503002</wanfj_id><sourcerecordid>kzllyyy_e201503002</sourcerecordid><originalsourceid>FETCH-LOGICAL-c1752-1dcd759149fdd917f7c28735b5ef72850716b81949067f6373f468c85ea27a613</originalsourceid><addsrcrecordid>eNpFkMtKAzEUhoMoWGofwN3gUoiek0xuSyneoOBG1yGdJO3U6UydVMv49KaM0FUO4fvO5SfkGuEOAdR9QlRSU0BBOaKk-oxMGJr8Y0p2nmswgkqj-SWZpbQBACxRca4nRC-wcN7t9vVPKKqu3fddUxzq_bpITe3rdkW3nQ_F0qXgT2DjDlfkIromhdn_OyUfT4_v8xe6eHt-nT8saIVKMIq-8koYLE303qCKqmJacbEUISqmBSiUS42mNCBVlFzxWEpdaREcU04in5Lbse_BtdG1K7vpvvs2T7Sfv00zDIMNLB8OHIBlmI1w2vV599CfaAR7zMqOWdms2GNWVmfpZpSqddeuvrJns711_WClFKbUpuT8D50sZZM</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype></control><display><type>article</type><title>L1 adaptive control with sliding-mode based adaptive law</title><source>SpringerLink Journals</source><source>Alma/SFX Local Collection</source><creator>Luo, Jie ; Cao, Chengyu</creator><creatorcontrib>Luo, Jie ; Cao, Chengyu</creatorcontrib><description>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.</description><identifier>ISSN: 2095-6983</identifier><identifier>EISSN: 2198-0942</identifier><identifier>DOI: 10.1007/s11768-015-3116-8</identifier><language>eng</language><publisher>Guangzhou: South China University of Technology and Academy of Mathematics and Systems Science, CAS</publisher><subject>Complexity ; Computational Intelligence ; Control ; Control and Systems Theory ; Engineering ; Mechatronics ; Optimization ; Robotics ; Systems Theory ; 低通滤波 ; 控制方案 ; 滑模控制 ; 自适应律 ; 自适应控制 ; 自适应法 ; 虚拟控制 ; 跟踪性能</subject><ispartof>Control theory and technology, 2015-08, Vol.13 (3), p.221-229</ispartof><rights>South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2015</rights><rights>Copyright © Wanfang Data Co. Ltd. All Rights Reserved.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Uhttp://image.cqvip.com/vip1000/qk/87672X/87672X.jpg</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s11768-015-3116-8$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s11768-015-3116-8$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,777,781,27905,27906,41469,42538,51300</link.rule.ids></links><search><creatorcontrib>Luo, Jie</creatorcontrib><creatorcontrib>Cao, Chengyu</creatorcontrib><title>L1 adaptive control with sliding-mode based adaptive law</title><title>Control theory and technology</title><addtitle>Control Theory Technol</addtitle><addtitle>Journal of Control Theory and Applications</addtitle><description>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.</description><subject>Complexity</subject><subject>Computational Intelligence</subject><subject>Control</subject><subject>Control and Systems Theory</subject><subject>Engineering</subject><subject>Mechatronics</subject><subject>Optimization</subject><subject>Robotics</subject><subject>Systems Theory</subject><subject>低通滤波</subject><subject>控制方案</subject><subject>滑模控制</subject><subject>自适应律</subject><subject>自适应控制</subject><subject>自适应法</subject><subject>虚拟控制</subject><subject>跟踪性能</subject><issn>2095-6983</issn><issn>2198-0942</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNpFkMtKAzEUhoMoWGofwN3gUoiek0xuSyneoOBG1yGdJO3U6UydVMv49KaM0FUO4fvO5SfkGuEOAdR9QlRSU0BBOaKk-oxMGJr8Y0p2nmswgkqj-SWZpbQBACxRca4nRC-wcN7t9vVPKKqu3fddUxzq_bpITe3rdkW3nQ_F0qXgT2DjDlfkIromhdn_OyUfT4_v8xe6eHt-nT8saIVKMIq-8koYLE303qCKqmJacbEUISqmBSiUS42mNCBVlFzxWEpdaREcU04in5Lbse_BtdG1K7vpvvs2T7Sfv00zDIMNLB8OHIBlmI1w2vV599CfaAR7zMqOWdms2GNWVmfpZpSqddeuvrJns711_WClFKbUpuT8D50sZZM</recordid><startdate>20150808</startdate><enddate>20150808</enddate><creator>Luo, Jie</creator><creator>Cao, Chengyu</creator><general>South China University of Technology and Academy of Mathematics and Systems Science, CAS</general><general>Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269, U.S.A</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>W92</scope><scope>~WA</scope><scope>2B.</scope><scope>4A8</scope><scope>92I</scope><scope>93N</scope><scope>PSX</scope><scope>TCJ</scope></search><sort><creationdate>20150808</creationdate><title>L1 adaptive control with sliding-mode based adaptive law</title><author>Luo, Jie ; Cao, Chengyu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c1752-1dcd759149fdd917f7c28735b5ef72850716b81949067f6373f468c85ea27a613</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Complexity</topic><topic>Computational Intelligence</topic><topic>Control</topic><topic>Control and Systems Theory</topic><topic>Engineering</topic><topic>Mechatronics</topic><topic>Optimization</topic><topic>Robotics</topic><topic>Systems Theory</topic><topic>低通滤波</topic><topic>控制方案</topic><topic>滑模控制</topic><topic>自适应律</topic><topic>自适应控制</topic><topic>自适应法</topic><topic>虚拟控制</topic><topic>跟踪性能</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Luo, Jie</creatorcontrib><creatorcontrib>Cao, Chengyu</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库-工程技术</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>Wanfang Data Journals - Hong Kong</collection><collection>WANFANG Data Centre</collection><collection>Wanfang Data Journals</collection><collection>万方数据期刊 - 香港版</collection><collection>China Online Journals (COJ)</collection><collection>China Online Journals (COJ)</collection><jtitle>Control theory and technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Luo, Jie</au><au>Cao, Chengyu</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>L1 adaptive control with sliding-mode based adaptive law</atitle><jtitle>Control theory and technology</jtitle><stitle>Control Theory Technol</stitle><addtitle>Journal of Control Theory and Applications</addtitle><date>2015-08-08</date><risdate>2015</risdate><volume>13</volume><issue>3</issue><spage>221</spage><epage>229</epage><pages>221-229</pages><issn>2095-6983</issn><eissn>2198-0942</eissn><abstract>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.</abstract><cop>Guangzhou</cop><pub>South China University of Technology and Academy of Mathematics and Systems Science, CAS</pub><doi>10.1007/s11768-015-3116-8</doi><tpages>9</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 2095-6983 |
| ispartof | Control theory and technology, 2015-08, Vol.13 (3), p.221-229 |
| issn | 2095-6983 2198-0942 |
| language | eng |
| recordid | cdi_wanfang_journals_kzllyyy_e201503002 |
| source | SpringerLink Journals; Alma/SFX Local Collection |
| subjects | Complexity Computational Intelligence Control Control and Systems Theory Engineering Mechatronics Optimization Robotics Systems Theory 低通滤波 控制方案 滑模控制 自适应律 自适应控制 自适应法 虚拟控制 跟踪性能 |
| title | L1 adaptive control with sliding-mode based adaptive law |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-20T06%3A18%3A40IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-wanfang_jour_sprin&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=L1%20adaptive%20control%20with%20sliding-mode%20based%20adaptive%20law&rft.jtitle=Control%20theory%20and%20technology&rft.au=Luo,%20Jie&rft.date=2015-08-08&rft.volume=13&rft.issue=3&rft.spage=221&rft.epage=229&rft.pages=221-229&rft.issn=2095-6983&rft.eissn=2198-0942&rft_id=info:doi/10.1007/s11768-015-3116-8&rft_dat=%3Cwanfang_jour_sprin%3Ekzllyyy_e201503002%3C/wanfang_jour_sprin%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_cqvip_id=665948943&rft_wanfj_id=kzllyyy_e201503002&rfr_iscdi=true |