L1 Adaptive Control Theory

L1 Adaptive Control Theory presents a new and efficient way of developing control laws for highly uncertain or rapidly changing environments. The key feature of this new theory is the decoupling of adaptation from robustness: the architectures of L1 adaptive control theory have guaranteed transient performance and robustness in the presence of fast adaptation. The authors cover detailed proofs of the main results and also present the results of flight tests which used this theory. The material is organized into six chapters and concludes with an appendix that summarizes the mathematical results used to support the proofs. This book is intended for graduate students; researchers; and aerospace, mechanical, chemical, industrial and electrical engineers interested in pursuing new directions in research and developing technology at reduced costs.

Book Description

This book presents a new theory for adaptive control: an efficient way of developing control laws for highly uncertain or rapidly changing environments. Suitable for graduate students and engineers, the authors cover detailed proofs of the main results and also present the results of flight tests which used this theory.

Table of Contents

1 Introduction

2 State Feedback in the Presence of Matched Uncertainties

3 State Feedback in the Presence of Unmatched Uncertainties

4 Output Feedback

5 Adaptive Controller for Time-Varying Reference Systems

6 Applications, Conclusions, and Open Problems

A Systems Theory

B Projection Operator for Adaptation Laws

C Basic Facts on linear Matrix Inequalities

About the Authors

Naira Hovakimyan is Professor and Schaller Faculty Scholar at the University of Illinois, Urbana-Champaign. She is an Associate Editor of IEEE Transactions on Control Systems Technology; Computational Management Science; and Mathematics in Engineering, Science and Aerospace, and she has authored over 200 refereed publications. Dr Hovakimyan was the 2004, 2005 and 2007 recipient of the Pride@Boeing award, and she received the Dean’s Award for Research Excellence at Virginia Tech in 2008. Her current interests are in the theory of robust adaptive control and estimation with an emphasis on aerospace applications, control in the presence of limited information, networks of autonomous systems and game theory.

Chengyu Cao is Assistant Professor of Mechanical Engineering at the University of Connecticut. Dr Cao’s research interests are in the areas of dynamics and control, adaptive and intelligent systems, and mechatonics, with a focus on unmanned systems and aerospace applications. He is the author of more than 100 publications in journals and peer-reviewed conference proceedings.