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.
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications Lyapunov’s Direct Method (Overview) • Method – based on generalization of energy concepts • Procedure – generate a scalar “energy-like function (Lyapunov function) for the dynamic system, and examine its variation in time, (derivative
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