Experimental Validation of L1 Adaptive Control: The Rohrs Counterexample in Flight
Gregory, Irene M.
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This paper presents flight-test results that examine the performance and robustness properties of an L1 control augmentation loop implemented onboard a small unmanned aerial vehicle. The framework used for in-flight control evaluation is based on the Rohrs counterexample, a benchmark problem presented in the early 1980s, to show the limitations of adaptive controllers developed at that time. Hardware-in-the-loop simulations and flight-test results confirmthe ability of theL1 flight control system 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 control as a robust adaptive control architecture with the potential of facilitating the transition of adaptive control into advanced flight control systems.
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Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Issac; Kitsios, Ioannis; Cao, Chengyu; Gregory, Irene M.; Valavani, Lena (2010-01);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. ...
Dobrokhodov, Vladimir; Kitsios, Ioannis; Kaminer, Isaac; Jones, Kevin D.; Xargay, Enric; Hovakimyan, Naira; Cao, Chengyu; Lizarraga, Mariano I.; Gregory, Irene M. (2008-08);The paper addresses initial steps involved in the development and flight implementation of new metrics driven L1 adaptive flight control system. The work concentrates on (i) definition of appropriate control driven metrics ...
Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Isaac; Gregory, Irene M.; Cao, Chengyu (2010-04);Certification of adaptive control technologies for both manned and unmanned aircraft represent a major challenge for current Verification and Validation techniques. A (missing) key step towards flight certification of ...