Experimental Validation of L1 Adaptive Control: Rohrs' Counterexample in Flight
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Authors
Xargay, Enric
Hovakimyan, Naira
Dobrokhodov, Vladimir
Kaminer, Isaac
Kitsios, Ioannis
Cao, Chengyu
Gregory, Irene M.
Valavani, Lena
Subjects
ADAPTIVE CONTROL
FEEDBACK CONTROL
PILOTLESS AIRCRAFT
ROBUSTNESS (MATHEMATICS)
STABILITY
FLIGHT TESTS
ALGORITHMS
COST REDUCTION
SIMULATION
FEEDBACK CONTROL
PILOTLESS AIRCRAFT
ROBUSTNESS (MATHEMATICS)
STABILITY
FLIGHT TESTS
ALGORITHMS
COST REDUCTION
SIMULATION
Advisors
Date of Issue
2010-01
Date
Jan 01, 2010
Publisher
Language
Abstract
The paper presents new results on the verification and in-flight validation of an L1 adaptive flight control system, and proposes a general methodology for verification and validation of adaptive flight control algorithms. The proposed framework is based on Rohrs counterexample, a benchmark problem presented in the early 80s to show the limitations of adaptive controllers developed at that time. In this paper, the framework is used to evaluate the performance and robustness characteristics of an L1 adaptive control augmentation loop implemented onboard a small unmanned aerial vehicle. Hardware-in-the-loop simulations and flight test results confirm the ability of the L1 adaptive controller to maintain stability and predictable performance of the closed loop adaptive system in the presence of general (artificially injected) unmodeled dynamics. The results demonstrate the advantages of L1 adaptive control as a verifiable robust adaptive control architecture with the potential of reducing flight control design costs and facilitating the transition of adaptive control into advanced flight control systems.
Type
Preprint
Description
Series/Report No
Department
Organization
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NPS Report Number
Sponsors
Funder
NNL08AA12I; NNX08AB97A; NNX08AC81A; 432938.11.01.07.43.16.01
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Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.