Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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L1 Adaptive Controller Augmented with Feedback Linearization

피드백 선형화를 이용한 L1 적응제어기법 연구

  • 김낙완 (충남대학교 항공우주선박해양공학부) ;
  • 유창선 (한국항공우주연구원) ;
  • 강영신 (한국항공우주연구원)
  • Published : 2008.06.01
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Abstract

This paper presents an approach to combine adaptive controller with feedback linearization, which extends the applicability of the adaptive controller to a wider class of systems. The adaptive controller guarantees the asymptotic tracking convergence and the transient performance of the tracking error. The feedback linearization transforms a nonlinear plant into a linear time invariant form. The asymptotic tracking convergence is shown by the use of Lyapunov stability analysis and Barbalat's lemma.

적응제어신호를 저역필터에 통과시켜 점근적 추종과 과도구간 성능을 동시에 보장하는 적응제어 기법과 비선형 시스템을 선형 시불변 형태로 변환하는 피드백 선형화 기법을 결합하여 적응제어 기법의 적용가능 범위를 확대하였다. Barbalat의 보조정리를 이용하여 추종오차가 0으로 수렴함을 증명하고 과도구간의 추종오차도 원하는 크기로 감소시킬 수 있음을 보였다.

Keywords

References

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