$\mathcal{L}{}_{1}$ Adaptive Control of Systems with Disturbances of Unknown Bounds

Souanef, Toufik; Boubakir, Ahsene; Fichter, Walter

doi:10.1007/978-3-319-17518-8_10

Cited by 4 publications

(6 citation statements)

References 19 publications

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“…The main advantage of the application of L 1 adaptive control to UAV pathfollowing in wind is that good performance of the system can be obtained, whether the unknown wind velocity is constant or not. This is a direct consequence of what was demonstrated in [29] that the L 1 adaptive controller presents a good compromise between performance and robustness in the presence of disturbances with unknown bounds.…”

Section: L 1 Adaptive Straight-line Path-following In the Horizontal ...supporting

confidence: 56%

“…In this section, based on [28], [29], the L 1 adaptive control approach that borrows insights from sliding mode control to design the adaptive laws is recalled. The main advantage is that the estimation of both the disturbances and their bounds is achieved by using a sliding surface.…”

Section: L 1 Adaptive Control Of Systems With Disturbances Of Unknown...mentioning

confidence: 99%

“…The main idea of this work, based on [28], is to formulate the path-following of fixed-wing UAVs as control design for systems in the presence of parametric uncertainties and external disturbances. Assuming that there is no prior information on wind, the proposed solution is based on the L 1 adaptive controller for disturbances of unknown bounds [29]. This approach relaxes what is commonly assumed that wind speed is constant.…”

Section: Introductionmentioning

confidence: 99%

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$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

Souanef

2022

IEEE Trans. Aerosp. Electron. Syst.

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This paper proposes an adaptive path-following controller of small fixed-wing Unmanned Aerial Vehicles (UAVs) in the presence of wind disturbances, which explicitly considers that wind speed is time-varying. The main idea was to formulate UAVs path-following as control design for systems with parametric uncertainties and external disturbances. Assuming that there is no prior information on wind, the proposed solution is based on the L 1 adaptive control, using linearized model dynamics.This approach makes clear statements for performance specifications of the controller and relaxes the common constant wind velocity assumption. This makes the design more realistic and the analysis more rigorous, because in practice wind is usually time varying (windshear, turbulence and gusting).The path-following controller was demonstrated in flight under wind speed up to 10m/s, representing 50% of the nominal UAV airspeed.

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Section: L 1 Adaptive Straight-line Path-following In the Horizontal ...supporting

confidence: 56%

Section: L 1 Adaptive Control Of Systems With Disturbances Of Unknown...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

Souanef

2022

IEEE Trans. Aerosp. Electron. Syst.

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“…The main advantage of the application of L 1 adaptive control to airship path-following in wind is that good performance of the system can be obtained, whether the unknown wind velocity is constant or not [26]. This is a direct consequence of what was demonstrated in [32] that the L 1 adaptive controller presents a good compromise between performance and robustness in the presence of disturbances with unknown bounds.…”

Section: Controller Designmentioning

confidence: 95%

ℒ1 Adaptive Path-Following of Airships in Wind

2023

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This paper proposes an adaptive, three-dimensional (3D) path-following controller for airships in the presence of wind disturbances, which explicitly considers that wind speed is time-varying. The main idea is to formulate airship path-following as control design for systems in the presence of parametric uncertainties and external disturbances. Assuming that there is no prior information on wind, the proposed solution is based on the [Formula: see text] adaptive controller. This approach makes clear statements for performance specifications of the controller and relaxes the common assumption that wind speed is constant. This makes the design more realistic and the analysis more rigorous, because in practice, the wind speed may be time-varying. The results of the simulation indicate that the path following system has a good performance and is robust against wind disturbances.

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“…In this paper, based on [9], the state-feedback L 1 adaptive controller for systems with disturbances of unknown bounds [48] is extended to output-feedback. The proposed solution uses a state observer instead of the state predictor, characteristic of the L 1 adaptive controller.…”

Section: Introductionmentioning

confidence: 99%

ℒ1 Adaptive Output Feedback Control of Small Unmanned Aerial Vehicles

Souanef

2022

Un. Sys.

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An approach for output feedback [Formula: see text] adaptive control of small Unmanned Aerial Vehicles (UAVs) is presented in this paper. The design is based on a state observer instead of the state predictor. The main advantage is that a full state measurement can be avoided, and the design and implementation of the controller are simplified. Furthermore, since the state space description is maintained, the system dynamics including uncertainties can be specified with physical insight, which simplifies practical applications. The adaptation law borrows insights from the sliding mode control to estimate the unknown bounds of external disturbances. Flight test results for the control of a small UAV show the robustness of the [Formula: see text] adaptive controller to large uncertainties and disturbances.

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$\mathcal{L}{}_{1}$ Adaptive Control of Systems with Disturbances of Unknown Bounds

Cited by 4 publications

References 19 publications

$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

ℒ1 Adaptive Path-Following of Airships in Wind

ℒ1 Adaptive Output Feedback Control of Small Unmanned Aerial Vehicles

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