Transcription of Adaptive Control: Introduction, Overview, and Applications
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Adaptive Control: Introduction, Overview, and Applications
Adaptive Control: Introduction, Overview, and ApplicationsRobust and Adaptive Control WorkshopAdaptive Control: Introduction, Overview, and ApplicationsEugene Lavretsky, : 714-235-7736E. LavretskyE. Lavretsky2 Adaptive Control: Introduction, Overview, and ApplicationsRobust and Adaptive Control WorkshopCourse Overview Motivating Example Review of Lyapunov Stability Theory Nonlinear systems and equilibrium points Linearization Lyapunov s direct method Barbalat s Lemma, Lyapunov-like Lemma, Bounded Stability model Reference Adaptive Control Basic concepts 1storder systems nthorder systems Robustness to Parametric / Non-Parametric Uncertainties Neural Networks, (NN) Architectures Using sigmoids Using Radial Basis Functions, (RBF) Adaptive NeuroControl Design Example: Adaptive Reconfigurable Flight Control using RBF NN-sE. Lavretsky3 Adaptive Control: Introduction, Overview, and ApplicationsRobust and Adaptive Control WorkshopReferences J-J.
(Model Reference Adaptive Control) • Uncertain Roll dynamics: – p is roll rate, – is aileron position –are unknown damping, aileron effectiveness • Flying Qualities Model: –are desired damping, control effectiveness – is a reference input, (pilot stick, guidance command) – roll rate tracking error: • Adaptive Roll Control: p ...
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