lec13 - 1 Outline What is Adaptive Control? s tems stems...

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Unformatted text preview: 1 Outline What is Adaptive Control? s tems stems Different Types of Adaptive Control Basic Estimation Problem Gradient Descent Algorithm Recursive Least Squares ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Examples What is an Adaptive Control System? One that adjusts itself to maintain a consistent level of performance in the presence of stemsstems parameter variations and uncertainties in the plant. It is generally a nonlinear control system even with a linear plant. its analysis and design is based on nonlinear ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys stability theory, in particular the Lyapunov theory. 2 Why Adaptive Control? Many systems to be controlled have s tems stems uncertain parameters (robots) slowly varying parameters (e.g., temperature dependent parameters) unpredictable parameter changes ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys unpredictable parameter changes (e.g., power systems) Applications of Adaptive Control Robotic Manipulators stemsstems Robotic Manipulators Machine Tools Process Control Aircraft Control Ship Steering ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Ship Steering 3 Different Types of Adaptive Control Self-Tuning Control (STC): control parameters s tems stems are computed indirectly based on the identified plant Model Reference Adaptive Control (MARC): control parameters are adjusted directly ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Self-Tuning Regulation r stemsstems plant controller estimator ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys estimator Controller : linear model based control such as PID, LQR, State feedback, etc . Estimator : Identifies the plant model 4 MRAC Block Diagram Reference Model s tems stems plant controller estimator r- ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Reference Model : specifies ideal response Controller : linear feedback/feedforward Estimator : Identifies the plant model MRAC and STC Comparison STC is more flexible but stability is harder to guarantee stemsstems guarantee MRAC is a direct method; it does not require any plant identification MRAC objective is more ambitious than STCs STC requires no reference mode ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys STC requires no reference model MRAC is mostly suited for tracking applications 5 Our Roadmap System Identification s tems stems STC MRAC with full state feedback Extension to nonlinear Systems ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Basic Identification Problem Given input-output measurements w(t R n and y(t R estimate the stemsstems w(t) R , and y(t) R estimate the constant parameter R n such that...
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lec13 - 1 Outline What is Adaptive Control? s tems stems...

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