Journal ArticleDOI
Combined/Composite Model Reference Adaptive Control
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This technical note introduces a provably stable state-feedback design modification for combined/composite adaptive control of multi-input multi-output dynamical systems with matched uncertainties.Abstract:
This technical note introduces a provably stable state-feedback design modification for combined/composite adaptive control of multi-input multi-output dynamical systems with matched uncertainties. The proposed design methodology is applied to control longitudinal dynamics of an aerial vehicle.read more
Citations
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Journal ArticleDOI
Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations
TL;DR: The adaptive controller is found to offer increased robustness to parametric uncertainties and be effective in mitigating the effects of a loss-of-thrust anomaly, which may occur due to component failure or physical damage.
Proceedings ArticleDOI
Concurrent learning for convergence in adaptive control without persistency of excitation
Girish Chowdhary,Eric N. Johnson +1 more
TL;DR: It is shown that for an adaptive controller that uses recorded and instantaneous data concurrently for adaptation, a verifiable condition on linear independence of the recorded data is sufficient to guarantee exponential tracking error and parameter error convergence.
Journal ArticleDOI
Multivariable adaptive control
TL;DR: An overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input-multi-output systems, literature reviews on adaptive control foundations and multivariables adaptive control methods, and related technical problems are presented.
Journal ArticleDOI
Composite Learning From Adaptive Dynamic Surface Control
Yongping Pan,Haoyong Yu +1 more
TL;DR: A novel technique coined composite learning is developed to guarantee parameter convergence without the PE condition, where online recorded data together with instantaneous data are applied to generate prediction errors, and both tracking errors and prediction errors are utilized to update parametric estimates.
Journal ArticleDOI
Exponential parameter and tracking error convergence guarantees for adaptive controllers without persistency of excitation
TL;DR: An online algorithm to record and forget data is presented and its effects on the resulting switched closed-loop dynamics are analysed and it is shown that when radial basis function neural networks are used as adaptive elements, the method guarantees exponential convergence of the NN parameters to a compact neighbourhood of their ideal values without requiring PE.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Book
Stable Adaptive Systems
TL;DR: Stability theory simple adaptive systems adaptive observers the control problem persistent excitation error models robust adaptive controlThe control problem - relaxation of assumptions multivariable adaptive systems applications of adaptive control.
Book
Aircraft Control and Simulation
Brian L. Stevens,Frank L. Lewis +1 more
TL;DR: Equations of Motion Building the Aircraft Model Basic Analytical and Computational Tools Aircraft Dynamics and Classical Design Techniques Modern Design Techniques Robustness and Multivariable Frequency-Domain Techniques Digital Control Appendices Index.
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Adaptive nonlinear regulation: estimation from the Lyapunov equation
TL;DR: In this paper, a stabilizing adaptive controller for a nonlinear system depending affinely on some unknown parameters is presented, where the adaptive law is designed using the Lyapunov equation.