Hi, I met some problem in adaptive control. In the 6dof nonlinear vehicle model control simulation when using controller to track a r step command signal for pitch angle, there is steady state error between r and final value, which is like this : r - final_value = 0.2 degree. The control methods I used is L1AC. Thank you very much.
@Bowen Yi
Hi, Thank you for your reply.
The stability you refered may be the reason why steady state error occurs. The controller works well using linear system plant, while steady state error is not 0 when vehilce have positive buoyancy. Besides, I have read papers on the convergences of L1 adaptive control, but L1 adaptive method is also verified in many practice.
Best Regards
Check your matching conditions. In this kind of situation it is usually the case that that there is no unique solution that produces desired gain to match actual system to desired closed loop plant. Your system is still bounded (or uniformly stable), but not asymptotically stable.
Hope this helps.
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