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Robust Adaptive Control In The Presence Of Unmodeled Dynamics
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Book Synopsis Robust Adaptive Control in the Presence of Unmodeled Dynamics by : Heather Syeda Hussain
Download or read book Robust Adaptive Control in the Presence of Unmodeled Dynamics written by Heather Syeda Hussain and published by . This book was released on 2017 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the advent of each next generation technology, demands for a rapidly reconfigurable control system yielding invariant performance under increasingly unknown or widely varying operating conditions becomes crucial. Adaptive control has long been viewed as one such control method, with implementation on high performance aerial vehicles providing nearly uniform performance across the flight envelope even with limited a priori knowledge on the aircraft's aerodynamic characteristics. This adaptation to parametric uncertainties is achieved through a process of online measurement, evaluation, and compensation through the control input. While the foundations of robust adaptive control theory were laid in the early 1980's, obtaining quantifiable and practically meaningful robust stability margins for adaptive systems remained an open problem. Successful implementation of adaptive control theory as a viable control solution can only be achieved when global robustness properties, especially with respect to unmodeled dynamics, are well understood. This thesis proposes a solution to this long standing open problem for a class of linear time-invariant plants, whose states are accessible. With the use of a modified adaptive update law, transformation of tracking and parameter errors, and sufficient conditions of a frequency-domain criterion, it is shown that the underlying closed-loop system has globally bounded solutions. That is, the overall adaptive system is shown to have analytically computable robustness margins that hold for arbitrary initial conditions. The proposed method and analysis utilizes several key properties of nonlinear dynamic systems, first principles of real analysis, and properties of strictly positive real systems to derive this fundamental result. Numerical results are presented to demonstrate that the sufficient conditions for global boundedness are non-conservative. It is also shown that, with these global properties established, specific conditions can be derived under which the advantage of adaptation over non-adaptive solutions for the control of uncertain systems is made clear. This advantage lies in the fact parameter adaptation allows learning of the uncertainties whenever the effect of unmodeled dynamics is small, leading to small tracking errors and improved robustness margins.
Book Synopsis Robust Adaptive Controllers in Presence of Unmodeled Dynamics by : Arun Kumar
Download or read book Robust Adaptive Controllers in Presence of Unmodeled Dynamics written by Arun Kumar and published by . This book was released on 2000 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robustness of Adaptive Control Algorithms in the Presence of Unmodeled Dynamics by : Charles E. Rohrs
Download or read book Robustness of Adaptive Control Algorithms in the Presence of Unmodeled Dynamics written by Charles E. Rohrs and published by . This book was released on 1982 with total page 18 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper reports the outcome of an exhaustive analytical and numerical investigation of stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances. The class of adaptive algorithms considered are those commonly referred to as model-reference adaptive control algorithms, self-tuning controllers, and dead-beat adaptive controllers; they have been developed for both continuous-time systems and discrete-time systems. The existing adaptive control algorithms have been proven to be globally asymptotically stable under certain assumptions, the key ones being (a) that the number of poles and zeroes of the unknown plant are known, and (b) that the primary performance criterion is related to good command following. These theoretical assumptions are too restrictive from an engineering point of view. Real plants always contain unmodeled high-frequency dynamics and small delays, and hence no upper bound on the number of the plant poles and zeroes exists. Also real plants are always subject to unmeasurable output additive disturbances, although these may be quite small. Hence, it is important to critically examine the stability robustness properties of the existing adaptive algorithms when some of the theoretical assumptions are removed; in particular, their stability and performance properties in the presence of unmodeled dynamics and output disturbances. (Author).
Book Synopsis Robust Adaptive Control by : G.C. Goodwin
Download or read book Robust Adaptive Control written by G.C. Goodwin and published by Elsevier. This book was released on 2014-05-23 with total page 275 pages. Available in PDF, EPUB and Kindle. Book excerpt: The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in practical situations. The proceedings also focused on the value of such practical features as filtering, normalization, deadzones and unification of robust control and adaptation.
Book Synopsis L1 Adaptive Control Theory by : Naira Hovakimyan
Download or read book L1 Adaptive Control Theory written by Naira Hovakimyan and published by SIAM. This book was released on 2010-09-30 with total page 333 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contains results not yet published in technical journals and conference proceedings.
Book Synopsis Robustness of Continuous-time Adaptive Control Algorithms in the Presence of Unmodeled Dynamics by : Charles E. Rohrs
Download or read book Robustness of Continuous-time Adaptive Control Algorithms in the Presence of Unmodeled Dynamics written by Charles E. Rohrs and published by . This book was released on 1983 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robustness of Adaptive Control Systems to Unmodeled Dynamics by : Chandan Sharma Subedi
Download or read book Robustness of Adaptive Control Systems to Unmodeled Dynamics written by Chandan Sharma Subedi and published by . This book was released on 2017 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently, it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing Function (DF) method. In doing so, the analysis of the robust adaptive control problem becomes tractable and resembles that of familiar and classical linear stability analysis.
Book Synopsis Adaptive Control in the Presence of Unmodeled Dynamics by : Charles Edward Rohrs
Download or read book Adaptive Control in the Presence of Unmodeled Dynamics written by Charles Edward Rohrs and published by . This book was released on 1982 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robust Stochastic Adaptive Control by :
Download or read book Robust Stochastic Adaptive Control written by and published by . This book was released on 1988 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this final report we summarize the activities of the MYF/LIDS research group for the time period 1 September 1982 to 31 December 1987. The research, funded by ONR contract N00014-82-K-0582, deals with fundamental issues in robust adaptive control systems, and the potential application of advanced control system design methodologies to the multivariable control of submarines. The research conducted was highly successful, and had significant (and controversial) impact upon the theory of adaptive control. The research of Rohrs, Valavani, Athans and Stein pointed out potential instabilities of then existing adaptive control algorithms caused by the presence of unmeasurable output disturbances and high frequency unmodeled dynamics. The publications of Rohrs et al were instrumental for defining new research directions in the adaptive control field, and the topic of Robust Adaptive Control became a new area for worldwide research. The research of Krause et al provided the first direction for the use of what is now called Averaging Theory for the analysis of adaptive control algorithms in the presence of disturbances and unmodeled dynamics. The research of Orlicki et al provided the first set of adaptive algorithms that actively employ real-time signal processing to compute frequency domain parameters which can be used to safeguard the stability of Model Reference Adaptive schemes that employ Intermittent Adaptation. The research of LaMaire et al deals with novel formulation of Hybrid Robust Identification algorithms which identify in real-time both time-domain models of the unknown plant and modeling error bounds in the frequency domain. The research of Milich et al develops theory and methodologies for designing robust compensators, with guaranteed performance in the presence of large structured and unstructured plant uncertainties. This complements the research conducted which helped streamline the LQG/LTR design methodology for non-adaptive feedback systems.
Book Synopsis Robust Adaptive Control by : Petros Ioannou
Download or read book Robust Adaptive Control written by Petros Ioannou and published by Courier Corporation. This book was released on 2013-09-26 with total page 850 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presented in a tutorial style, this comprehensive treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. Numerous examples clarify procedures and methods. 1995 edition.
Book Synopsis The Dynamics of the E.-modification Law and a New Robust Adaptive Control in the Presence of Disturbances by : Shi Pai
Download or read book The Dynamics of the E.-modification Law and a New Robust Adaptive Control in the Presence of Disturbances written by Shi Pai and published by . This book was released on 1989 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Stable Adaptive Control in the Presence of Unmodeled Dynamics [microform] by : William R. Cluett
Download or read book Stable Adaptive Control in the Presence of Unmodeled Dynamics [microform] written by William R. Cluett and published by National Library of Canada. This book was released on 1986 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Adaptive Control by : Shankar Sastry
Download or read book Adaptive Control written by Shankar Sastry and published by Courier Corporation. This book was released on 2011-01-01 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume surveys the major results and techniques of analysis in the field of adaptive control. Focusing on linear, continuous time, single-input, single-output systems, the authors offer a clear, conceptual presentation of adaptive methods, enabling a critical evaluation of these techniques and suggesting avenues of further development. 1989 edition.
Book Synopsis Model-Reference Adaptive Control by : Nhan T. Nguyen
Download or read book Model-Reference Adaptive Control written by Nhan T. Nguyen and published by Springer. This book was released on 2018-03-01 with total page 453 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook provides readers with a good working knowledge of adaptive control theory through applications. It is intended for students beginning masters or doctoral courses, and control practitioners wishing to get up to speed in the subject expeditiously. Readers are taught a wide variety of adaptive control techniques starting with simple methods and extending step-by-step to more complex ones. Stability proofs are provided for all adaptive control techniques without obfuscating reader understanding with excessive mathematics. The book begins with standard model-reference adaptive control (MRAC) for first-order, second-order, and multi-input, multi-output systems. Treatment of least-squares parameter estimation and its extension to MRAC follow, helping readers to gain a different perspective on MRAC. Function approximation with orthogonal polynomials and neural networks, and MRAC using neural networks are also covered. Robustness issues connected with MRAC are discussed, helping the student to appreciate potential pitfalls of the technique. This appreciation is encouraged by drawing parallels between various aspects of robustness and linear time-invariant systems wherever relevant. Following on from the robustness problems is material covering robust adaptive control including standard methods and detailed exposition of recent advances, in particular, the author’s work on optimal control modification. Interesting properties of the new method are illustrated in the design of adaptive systems to meet stability margins. This method has been successfully flight-tested on research aircraft, one of various flight-control applications detailed towards the end of the book along with a hybrid adaptive flight control architecture that combines direct MRAC with least-squares indirect adaptive control. In addition to the applications, understanding is encouraged by the use of end-of-chapter exercises and associated MATLAB® files. Readers will need no more than the standard mathematics for basic control theory such as differential equations and matrix algebra; the book covers the foundations of MRAC and the necessary mathematical preliminaries.
Book Synopsis Robust and Adaptive Control Laws for a Mini Quad Rotor UAV by : Elisa Capello
Download or read book Robust and Adaptive Control Laws for a Mini Quad Rotor UAV written by Elisa Capello and published by LAP Lambert Academic Publishing. This book was released on 2012 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Different control laws have been analyzed, from the classical theory, like PD and LQR controllers, to an innovative theory, that is represented by the L1 adaptive controller. The validation of controllers is proposed on the experimental model (derived from flight tests) and in a formation flight application. A quadrotor is a platform with fast dynamics, thus if a sudden maneuver is implemented can cause glitches on the parameters trend and the aircraft could become uncontrollable. A key aspect of this controller is the definition of control signals as the output of a low pass-filter. This feature permits to avoid high frequency oscillations due to the large adaptation gain; in systems that use electronic devices. Moreover, this controller is robust in presence of model uncertainties and unmodeled dynamics. The simple structure and the presence of less oscillations during the implementation demonstrate that this controller can be a good candidate for an autopilot. Therefore, the low pass filter is evaluated by a trial and error method. To provide a systematic method, a mixed deterministic - randomized approach for the control law design (low pass filter) is proposed.
Book Synopsis Robust Adaptive Control in the Presence of Bounded Disturbances by : Kumpati S. Narendra
Download or read book Robust Adaptive Control in the Presence of Bounded Disturbances written by Kumpati S. Narendra and published by . This book was released on 1984 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control written by Kwanho You and published by BoD – Books on Demand. This book was released on 2009-01-01 with total page 382 pages. Available in PDF, EPUB and Kindle. Book excerpt: Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems.
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