Adaptive disturbance accommodating controller for uncertain stochastic systems

Jemin George, Puneet Singla, John L. Crassidis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


This paper presents a Kalman filter-based adaptive disturbance- accommodating stochastic control scheme for linear uncertain systems to minimize the adverse effects of both model uncertainties and external disturbances. A rigorous stochastic stability analysis reveals a lower bound requirement on system process noise covariance to ensure the stability of the controlled system when the nominal control action on the true plant is unstable. Finally, an adaptive law is synthesized for the selection of stabilizing system process noise covariance. Simulation results are presented where the proposed control scheme is implemented on a two degree-of-freedom helicopter.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Number of pages7
StatePublished - 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2009 American Control Conference, ACC 2009
Country/TerritoryUnited States
CitySt. Louis, MO

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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