Back to Courses Catalog CDS 270 Course Material Lectures Assignments

CDS 270 -- Spring 2005 Third Term Adaptive Control Course Material Course overview: Introduction, Motivating Examples, Current state of the art. Review of Lyapunov Stability Theory: Nonlinear systems and equilibrium points. Linearization. Lyapunov direct method. LaSalle extensions. Barbalat Lemma and Lyapunov-like Lemma. Uniform Ultimate Boundedness by Lyapunov Extension. Adaptive control architectures : Basic concepts. Design approach: Direct vs. indirect. Certainty Equivalence Principle Model Reference Adaptive Control, (MRAC) Augmentation of a nominal design Using dynamic inversion Adaptive backstepping Artificial Neural Networks, (NN) Universal approximation properties Using sigmoids Using Radial Basis Functions, (RBF) Enforcing robustness to parametric and non-Parametric uncertainties Dead-zone Sigma modification E – modification d. Projection operator Adaptive NeuroControl On-line parameter estimation, parameter convergence, and Persistency of Excitation (PE) conditions Design Examples Adaptive Augmentation of an LQR controller with integral action Adaptive Reconfigurable Flight Control using RBF NN-s Main Textbooks J.J. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall, 1995. H.K. Khalil, Nonlinear Systems, 3rd Edition, Prentice Hall, New Jersey, 2002. Additional / Supplementary Textbooks M. Krstic, I. Kanellakopoulos, P. Kokotovic, Nonlinear and Adaptive Control Design, John Wiley & Sons, New York, 1995. K. Narendra, and A. Annaswamy, Stable Adaptive Control, Prentice Hall, 1989. S.S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence and Robustness, Prentice Hall, 1989. P. Ioannou, J. Sun, Robust Adaptive Control, Prentice Hall, New Jersey, 1996. F. Lewis, S. Jagannathan, S., A. Yesildirek, Neural Network Control of Robot Manipulators and Nonlinear Systems, Taylor & Francis, 1998. R.Marino and P.Tomei, Nonlinear Control Design: Geometric, Adaptive, Robust, Prentice Hall, New Jersey, 1995.