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)
9 Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications Example: Equilibrium Points of a Pendulum • System dynamics: • State space representation, • Equilibrium points: MR2 θθ +b +=MgRsin(θ) 0 12 222 sin 1 xx bg x xx MR R = =− − (xx12=θ, =θ ) 2 2 21 0 0sin x bg x x MR R = =− − xx21==0 ...
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