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IEEE WorkShop Slides Lavretsky
IEEE WorkShop Slides Lavretsky
E-mail: eugene.lavretsky@boeing.com
Phone: 714-235-7736
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Course 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
– 1st order systems
– nth order 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
2
RBF NN-s
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
References
• J-J. E. Slotine and W. Li, Applied Nonlinear Control,
Prentice-Hall, New Jersey, 1991
• S. Haykin, Neural Networks: A Comprehensive
Foundation, 2nd edition, Prentice-Hall, New Jersey, 1999
• H. K., Khalil, Nonlinear Systems, 2nd edition, Prentice-
Hall, New Jersey, 2002
• Recent Journal / Conference Publications, (available
upon request)
3
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Kˆ p
8
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
State Transformation
• Suppose that xe is an equilibrium point
• Introduce a new variable: y = x - xe
• Substituting for x = y + xe into x = f ( x )
• New system dynamics: y = f ( y + x ) e
11
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Nominal Motion
• Let x*(t) be the solution of x = f ( x)
– the nominal motion trajectory corresponding to initial
conditions x*(0) = x0
• Perturb the initial condition x ( 0 ) = x0 + δ x0
• Study the stability of the motion error: e ( t ) = x ( t ) − x∗ ( t )
Lyapunov Stability
• Definition: The equilibrium state x = 0 of
autonomous nonlinear dynamic system is said to
be stable if:
∀ R > 0, ∃ r > 0, { x ( 0 ) < r} ⇒ {∀ t ≥ 0, x ( t ) < R}
x ( 0) x ( 0)
Stable 0 Unstable 0
R r R r
13
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Asymptotic Stability
Exponential Stability
• Definition: An equilibrium point 0 is
exponentially stable if:
{ }
∃ r , α , λ > 0, ∀ x ( 0 ) < r ∧ t > 0 : x ( t ) ≤ α x ( 0 ) e− λ t ,
Lyapunov Functions
• Definition: If in a ball BR the function V(x)
is positive definite, has continuous partial
derivatives, and if its time derivative along
any state trajectory of the system x = f ( x ) is
negative semi-definite, i.e., V ( x ) ≤ 0 then V(x)
is said to be a Lyapunov function for the
system.
• Time derivative of the Lyapunov function
⎛ ∂V ( x) ∂V ( x) ⎞
V ( x ) = ∇V ( x ) f ( x ) ≤ 0, ∇V ( x ) = ⎜ … ⎟∈ R
n
⎝ ∂ x1 ∂ xn ⎠ 23
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Lyapunov Function
(Geometric Interpretation)
x2
V = V1
V = V2
V ( x (t )) V = V3 x1
x2
x (t )
0 x1
V1 > V2 > V3
x (t )
• Lyapunov function is a bowl, (locally)
• V(x(t)) always moves down the bowl
• System state moves across contour
curves of the bowl towards the origin 24
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
θ 2
– positive definite
– time-derivative is negative definite in the 2-
dimensional ball defined by 1 2 < 2
+
2 2
x x
29
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Barbalat’s Lemma
• Lemma
– If a differentiable function f(t) has a finite limit as t → ∞
and if f ( t ) is uniformly continuous, then lim f ( t ) = 0
t →∞
• Remarks
– uniform continuity of a function is difficult to verify
directly
– simple sufficient condition:
• if derivative is bounded then function is uniformly continuous
– The fact that derivative goes to zero does not imply
that the function has a limit, as t tends to infinity. The
converse is also not true, (in general)
– Uniform continuity condition is very important! 34
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Lyapunov-Like Lemma
• If a scalar function V(x,t) satisfies the
following conditions
– function is lower bounded
– its time-derivative along the system
trajectories is negative semi-definite and
uniformly continuous in time
• Then: lim V ( x, t ) = 0
t →∞
t →∞
( )
• hence: lim −2 e 2 = lim V ( e,θ ) = 0 ⇒ lim e ( t )
t →∞ t →∞
37
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
x =B
x0 V ( x ) < 0, ∀ C ≤ x ≤ C0
x = C < C0 x = C0
38
All trajectories starting in large ellipse enter small ellipse within finite time T(C0 ,B)
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
xe + C0
x ( t0 ) bound B
xe + B
xe x (t )
t
t0 t0 + T
xe − B
T
xe − C0 39
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• System: (
x1 = x1 x22 − x1 x12 + x22 − 9 )
(
x2 = − x12 x2 − x2 x12 + x22 − 9 ) x ( t0 )
R
x2
x (T )
• Lyapunov function candidate:
x1
V ( x1 , x2 ) = x + x
2
1
2
2
• Time derivative:
(
V ( x1 , x2 ) = 2 ( x1 x1 + x2 x2 ) = −2 x12 + x22 )( x 2
1 + x22 − 9 )
• Time derivative negative outside compact set
{
V ( x1 , x2 ) < 0, ∀ x : x12 + x22 > 9 }
• Conclusion: All trajectories enter circle of radius
R = 3, in a finite time 41
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Adaptive Control
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Introduction
• Basic Ideas in Adaptive Control
– estimate uncertain plant / controller
parameters on-line, while using measured
system signals
– use estimated parameters in control input
computation
• Adaptive controller is a dynamic system
with on-line parameter estimation
– inherently nonlinear
– analysis and design rely on the Lyapunov
2
E. Lavretsky
Stability Theory
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Historical Perspective
• Research in adaptive control started in the
early 1950’s
– autopilot design for high-performance aircraft
• Interest diminished due to the crash of a
test flight
– Question: X-?? aircraft tested
• Last decade witnessed the development of
a coherent theory and many practical
applications
3
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Concepts
• Why Adaptive Control?
– dealing with complex systems that have unpredictable parameter
deviations and uncertainties
• Basic Objective
– maintain consistent performance of a system in the presence of
uncertainty and variations in plant parameters
• Adaptive control is superior to robust control in dealing
with uncertainties in constant or slow-varying parameters
• Robust control has advantages in dealing with
disturbances, quickly varying parameters, and
unmodeled dynamics
• Solution: Adaptive augmentation of a Robust Baseline
controller 4
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
θˆ
adaptation law
• Plant has a known structure but the parameters are
unknown
• Reference model specifies the ideal (desired) response
ym to the external command r
• Controller is parameterized and provides tracking
• Adaptation is used to adjust parameters in the control law
5
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
θˆ
estimator
8
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Closed-Loop System: ( )
x = a + b kˆx x + b ⎛⎜ kˆr r + θˆ − θ ( ) Φ ( x ) ⎞⎟
T
⎝ ⎠
• Desired Dynamics: x = a x + b r m m m m
E. Lavretsky
( )
b kˆr − bm = b kˆr − b kr = b kˆr − kr = b ∆kr 9
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Error Dynamics:
⎛ ⎞
( ) ( )
e ( t ) = x ( t ) − xm ( t ) = a + b kˆx x + b ⎜ kˆr r + θˆ − θ Φ ( x ) ⎟ − am xm − bm r ± am x
T
⎜⎜ ⎟⎟
⎝ ∆θ ⎠
( ) ( )
= am ( x − xm ) + a + b kˆx − am x + b kˆr − kr r + b ∆θ T Φ ( x )
(
= am e + b ∆k x x + ∆kr r + ∆θ T Φ ( x ) )
• Lyapunov Function Candidate:
V ( e ( t ) , ∆k ( t ) , ∆k ( t ) , ∆θ ( t ) ) = e + b (γ ∆k + γ
x r
2 −1
x
2
x
−1
r ∆kr2 + ∆θ T Γθ−1 ∆θ )
(
V ( e, ∆k x , ∆kr , ∆θ ) = 2 e e + 2 b γ x−1 ∆k x kˆx + γ r−1 ∆kr kˆr + ∆θ T Γθ−1 θˆ )
(
= 2 e am e + b ( ∆k x x + ∆kr r ) + ∆θ T Φ ( x ) )
(
+2 b γ x−1 ∆k x kˆx + γ r−1 ∆kr kˆr + ∆θ T Γθ−1 θˆ )
( )
= 2 am e2 + 2 b ⎛⎜ ∆k x x e sgn ( b ) + γ x−1 kˆx ⎞⎟
⎝ ⎠
⎝ ( ) ⎠ (
+2 b ⎛⎜ ∆kr r e sgn ( b ) + γ r−1 kˆr ⎞⎟ + 2 b ∆θ T Φ ( x ) e sgn ( b ) + Γθ−1 θˆ )
11
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
kˆr = −γ r r e sgn ( b )
θˆ = −Γθ Φ ( x ) e sgn ( b )
• Time-derivative of the Lyapunov function
becomes semi-negative definite!
V ( e ( t ) , ∆k x ( t ) , ∆kr ( t ) , ∆θ ( t ) ) = 2 am e ( t ) ≤ 0
2
12
<0
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Conclusions
– achieved asymptotic tracking: x ( t ) → xm ( t ) , as t → ∞
– all signals in the closed-loop system are
bounded
15
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
fˆ ( x )
kˆx
i =1 16
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
18
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
∆θ
• Desired Dynamics: m x = a x +b r
m m m
• Tracking error: e x − x m
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
(
+2 γ a−1 ∆a aˆ + γ b−1 ∆b bˆ + ∆θ T Γθ−1 θˆ )
( ) ( ) (
= 2 am e2 + ∆a γ a−1 aˆ − x e + ∆b γ b−1 bˆ − u e + ∆θ T Γθ−1 θˆ − Φ ( x ) e )
• Adaptive laws System
energy
aˆ = γ a x e decreases
V ( e, ∆a, ∆b, ∆θ ) = 2 am e2 ≤ 0
bˆ = γ b u e
θˆ = Γθ Φ ( x ) e
21
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Consequently: lim e ( t ) = 0 x ( t ) → xm ( t ) , as t → ∞
t →∞
• Conclusions
– asymptotic tracking
– all signals in the closed-loop system are
bounded
22
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Parameter Convergence ?
⎛ ∆k x ⎞
• Using vector form: ⎜ ⎟
( )
x r ΦT ( x ) ⎜ ∆kr ⎟ ≅ 0
⎜ ∆θ ⎟ 24
⎝ ⎠
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Adaptive Control: u = kˆ x + kˆ rx r
kˆr = −2 r e, kˆr ( 0 ) = 0
( )
T
• known basis functions: Φ ( x ) = x e sin ( 2 x )
−( x + 0.5 ) 10 − ( x − 0.5 ) 10
2 2
3
e
• unknown parameters: θ = ( 0.01 −1 1 0.5 )
T
• Reference Model: xm = −4 xm + 4 r ( t ) , xm ( 0 ) = 0
• Adaptive Control: u = kˆx x + kˆr r + θˆT Φ ( x ) kˆx = −2 x e, kˆx ( 0 ) = 0
• Parameter Adaptation: kˆr = −2 r e, kˆr ( 0 ) = 0
θˆ = −2 Φ ( x ) e, θˆ ( 0 ) = 04
• Reference Model: xm = −4 xm + 4 r ( t ) , xm ( 0 ) = 0
θˆ = −2 Φ ( x ) e, θˆ ( 0 ) = 04
⎛ 3t ⎞ ⎛ 3t ⎞ ⎛ 3t ⎞
• Reference Input: r ( t ) = sin ( 3 t ) + sin ⎜ ⎟ + sin ⎜ ⎟ + sin ⎜ ⎟ 34
E. Lavretsky
⎝ 2⎠ ⎝ 4⎠ ⎝8⎠
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
m× N
• matrix of constant unknown parameters: Θ ∈ R
• vector of N known basis functions: Φ ( x ) = (ϕ1 ( x ) … ϕ N ( x ) )
T
( )
T
A + B Λ Kˆ xT − Am = A + B Λ Kˆ xT − A − B Λ K xT = B Λ Kˆ x − K x = B Λ ∆K xT
( )
T
B Λ Kˆ rT − Bm = B Λ Kˆ rT − B Λ K rT = B Λ Kˆ r − K r = B Λ ∆Kˆ rT 40
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
e ( t ) = x ( t ) − xm ( t ) =
⎛ ⎞
( A + B Λ Kˆ ) (
x + B Λ ⎜ Kˆ rT r + Θ )
ˆ − Θ Φ ( x) ⎟ − A x − B r ± A x
T
T
x
⎜⎜ ⎟⎟ m m m m
⎝ ∆Θ ⎠
( )
= Am ( x − xm ) + A + B Λ Kˆ xT − Am x + B Λ Kˆ r − K r( ) r + B Λ ∆ΘT Φ ( x )
T
(
= Am e + B Λ ∆K xT x + ∆K rT r + ∆ΘT Φ ( x ) )
41
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
elements
– Γ x = ΓTx > 0, Γ r = ΓTr > 0, Γ Θ = ΓTΘ > 0 are symmetric
positive definite matrices
– P = PT > 0 is unique symmetric positive definite
solution of the algebraic Lyapunov equation P Am + Am P = −Q
T
42
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Kˆ r = −Γ r r eT P B sgn ( Λ )
ˆ = −Γ Φ ( x ) eT P B sgn ( Λ )
Θ Θ
• Conclusions
– achieved asymptotic tracking: x ( t ) → xm ( t ) , as t → ∞
– all signals in the closed-loop system are
bounded
• Remark
– Parameter convergence IS NOT guaranteed
44
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
47
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Dead-Zone Modification
• Method is based on the observation that small
tracking errors contain mostly noise and
disturbance
• Solution
– Turn off the adaptation process for “small” tracking
errors ⎧⎪−Γ x x eT P B sgn ( Λ ) , e > ε
Kˆ x = ⎨
– MRAC using Dead-Zone ⎪⎩0, e ≤ ε
– ε is the size of the dead-zone ⎧⎪−Γ r r eT P B sgn ( Λ ) , e > ε
ˆ Kr = ⎨
• Outcome ⎪⎩0, e ≤ ε
– Bounded Tracking ⎧⎪−Γ Θ Φ ( x ) eT P B sgn ( Λ ) , e >ε
Θ
ˆ =⎨
⎪⎩0, e ≤ ε
48
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Satisfactory Tracking
49
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• Parameter Drift due to measurement noise
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Satisfactory Tracking
50
E. Lavretsky
• No Parameter Drift
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
parametric non-parametric 51
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Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Σ
x
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
NN Architectures
• Artificial Neural Networks are multi-input-multi-
output systems composed of many inter-
connected nonlinear processing elements
(neurons) operating in parallel
1
1 4
5 2
Single-Hidden-Layer Neural Network
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
3
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Input 2 Output
x y
1
Threshold
N
1
Output Bias 4
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Functional Dependence
– sigmoidal: NN ( x ) = W T σ (V T x + θ ) + b
– RBF:
⎛ ϕ ( x − C1 ) ⎞⎟
⎜
NN ( x ) = W ⎜
T
⎟ + b = W T
Φ ( x) + b
⎜⎜ ϕ x − C
⎝
( N ) ⎟⎟⎠
Φ( x )
5
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Sigmoidal NN
⎛ x ⎞
• Matrix form: NN ( x ) = W T σ ⎜ V T ⎛⎜ ⎞⎟ ⎟ + c
⎝ ⎝ 1⎠⎠
• kth output:
⎛ n ⎞
NN k ( x ) = w σ ( v x + θ k ) + ck = ∑ w j k σ ⎜ ∑ vi k xi + θ k ⎟ + ck
N
T T
k k
j =1 ⎝ i =1 ⎠ 6
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎛ T ⎛ x⎞⎞ ⎛ 1 ⎞
f ( x ) − W σ ⎜V ⎜ ⎟ ⎟ − b ≤ ε = O ⎜
T
⎟
⎝ ⎝ ⎠⎠1 ⎝ N⎠
T T ⎡σ ⎤ ⎡ x⎤
• Introduce: W ⎡⎣W T
b ⎤⎦ , V ⎡⎣V T
θ ⎤⎦ , σ ⎢1⎥, µ ⎢1 ⎥
⎣ ⎦ ⎣ ⎦
• Then: NN ( x ) = W T σ (V T µ ) 7
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
RBF NN
• Matrix form: NN ( x ) = W Φ ( x ) + b
T
T
⎛ ⎞
2 2
− x −C1 − x −CN
• Vector of RBF-s: Φ ( x) = ⎜ e 2σ12
… e 2σ N2 ⎟
⎜ ⎟
⎝ ⎠
• Matrix of RBF centers: C ⎡C1 … CN ⎤ ∈ R n× N
⎣ ⎦
σ (σ 1 … σ N ) ∈ RN
T
• Vector of RBF widths:
• Matrix of output weights: W = ( w1 … wm ) ∈ R N ×m
• Vector of output biases: b ∈ R m
2
− x −C j
• kth output: N
NN k ( x ) = w Φ ( x ) + bk = ∑ w j k e
2σ 2j
T
k + bk 9
j =1
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎛ − ⎞
1
f ( x) −W T Φ ( x) − b ≤ ε = O ⎜ N n ⎟
⎝ ⎠
⎡Φ ( x ) ⎤
• Introduce: W [W b] , Φ ( x ) ⎢ ⎥
⎣ 1 ⎦
• Then: NN ( x ) = W T Φ ( x ) 10
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
What is Next?
• Use SHL FNN-s in the context of MRAC
systems
– off-line / on-line approximation of uncertain
nonlinearities in system dynamics
• modeling errors, (aerodynamics)
• battle damage
• control failures
• Start with fixed widths RBF NN architectures,
(linear in unknown parameters)
• Generalize to using sigmoidal NN-s
12
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Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Adaptive NeuroControl
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
14
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Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• RBF NN estimator: fˆ ( x ) = Θˆ Φ ( x ) T
• Estimation error:
NN ( x ) − f ( x ) = Θ ( )
ˆ − Θ Φ ( x ) − ε ( x ) = ∆ΘT Φ ( x ) − ε ( x )
T
f f
∆Θ
15
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
( )
T
A + B Λ Kˆ xT − Am = A + B Λ Kˆ xT − A − B Λ K xT = B Λ Kˆ x − K x = B Λ ∆K xT
( )
T
B Λ Kˆ rT − Bm = B Λ Kˆ rT − B Λ K rT = B Λ Kˆ r − K r = B Λ ∆Kˆ rT 17
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
( A + B Λ Kˆ ) x + B Λ ( Kˆ r + ∆Θ Φ ( x ) − ε ( x ) ) − A x − B r ± A x
T
x
T
r
T
f m m m m
= A ( x − x ) + ( A + B Λ Kˆ − A ) x + B Λ ( Kˆ − K ) r + B Λ ( ∆Θ Φ ( x ) − ε ( x))
T
T T
m m x m r r f
(
= Am e + B Λ ∆K xT x + ∆K rT r + ∆ΘT Φ ( x ) − ε f ( x ) )
• Remarks
– estimation error ε f ( x ) is bounded, as long as x ∈ X
– need to keep x within X 18
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
elements
– Γ x = ΓTx > 0, Γ r = ΓTr > 0, Γ Θ = ΓTΘ > 0 are symmetric
positive definite matrices
– P = PT > 0 is unique symmetric positive definite
solution of the algebraic Lyapunov equation P A + AT P = −Q
• Q = Q > 0 is any symmetric positive definite matrix
T
19
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
( ) ( ) (
+2 trace ∆K xT Γ −x1 Kˆ x Λ + 2 trace ∆K rT Γ −r 1 Kˆ r Λ + 2 trace ∆ΘT Γ Θ−1 Θ
ˆ Λ
)
( (
= Am e + B Λ ∆K x + ∆K r + ∆Θ Φ ( x ) − ε f ( x ) ))
T
T T T
x r Pe
( (
+eT P Am e + B Λ ∆K xT x + ∆K rT r + ∆ΘT Φ ( x ) − ε f ( x ) ))
( ) ( ) (
+2 trace ∆K xT Γ −x1 Kˆ x Λ + 2 trace ∆K rT Γ −r 1 Kˆ r Λ + 2 trace ∆ΘT Γ Θ−1 Θ
ˆ Λ
)
= eT ( Am P + P Am ) e
(
+2 eT P B Λ ∆K xT x + ∆K rT r + ∆ΘT Φ ( x ) − ε f ( x ) )
( ) ( ) (
+2 trace ∆K xT Γ −x1 Kˆ x Λ + 2 trace ∆K rT Γ −r 1 Kˆ r Λ + 2 trace ∆ΘT Γ Θ−1 Θ
ˆ Λ
20 )
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
(
+2 eT P B Λ ∆K xT x + 2 trace ∆K xT Γ −x1 Kˆ x Λ )
+2 eT P B Λ ∆K rT r + 2 trace ( ∆K T
r Γ r−1 Kˆ r Λ)
(
+2 eT P B Λ ∆ΘT Φ ( x ) + 2 trace ∆ΘT Γ Θ−1 Θ
ˆ Λ
)
• Using trace identity: a T
b = trace b a T
( )
⎛ ⎞
• Example: e P B Λ ∆K x = trace ⎜ ∆K x x e P B Λ ⎟
T T T T
⎜ ⎟
x
aT b ⎝ b aT ⎠ 21
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
{ }
+2 trace ⎛⎜ ∆K xT Γ −x1 Kˆ x + x eT P B sgn ( Λ ) Λ ⎞⎟
⎝ ⎠
+2 trace ⎛⎜ ∆K {Γ
T −1
Kˆ + r e P B sgn ( Λ )} Λ ⎞⎟
T
⎝ ⎠
r r r
+2 trace ⎛⎜ ∆Θ {Γ
T −1
Θ Θ T
} ⎠
ˆ + Φ ( x ) e P B sgn ( Λ ) Λ ⎞⎟
⎝
• Problem
– choose adaptive parameters Kˆ x , Kˆ r , Θˆ such that time-
derivative V becomes negative definite outside of a
compact set in the error state space, and all
parameters remain bounded for all future times 22
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Kˆ r = −Γ r r eT P B sgn ( Λ )
ˆ = −Γ Φ ( x ) eT P B sgn ( Λ )
Θ Θ
• Then we get:
V = −e Q e − 2 e P B Λ ε f ( x ) ≤ −λmin ( Q ) e + 2 e P B λmax ( Λ ) ε
T T 2
Kˆ = −Γ ( r e P B + σ Kˆ ) sgn ( Λ )
r r
T
r r
Θˆ = −Γ ( Φ ( x ) e P B + σ Θ ˆ ) sgn ( Λ )
T
Θ Θ
• e - modification: Kˆ = −Γ ( x e P B + σ e P B Kˆ ) sgn ( Λ )
x x
T
x
T
x
Kˆ = −Γ ( r e P B + σ e P B Kˆ ) sgn ( Λ )
r r
T
r
T
r
Θˆ = −Γ ( Φ ( x ) e P B + σ e P B Θ
T ˆ ) sgn ( Λ )
T
Θ Θ
⎪⎩ λmin ( Q ) ⎭⎪
Projection Operator
• Function f (θ ) defines pre- y
specified parameter domain Proj (θ , y ) ∇f (θ )
boundary {θ }
f (θ ) = 1
θ
• Example:
θ∗
θ −θ
2 2
f (θ ) = max
εθ θ max
2
{θ f (θ ) ≤ 0}
{ f (θ ) ≤ 0} ⇒ { θ ≤ θ } ⇒ θ is within bounds
max
• θ maxspecifies boundary
• εθ specifies boundary tolerance 26
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎪
⎪⎩ y, if not
• Depends on (θ , y ) y
• Does not alter y if θ is within the pre- Proj (θ , y ) ∇f (θ )
specified bounds: θ ≤ θ max {θ f (θ ) = 1}
2θ θ
• Gradient: ∇f (θ ) =
εθ θ max
2
θ∗
• {
In 0 ≤ f (θ ) ≤ 1 } the operator subtracts
gradient vector ∇f (θ ) (normal to the
boundary) from y {θ f (θ ) ≤ 0}
– get a smooth transition from y for λ = 0 to
a tangent vector field for λ =1
(θ − θ ∗ ) ( Proj (θ , y ) − y ) ≤ 0
T
• Important Property 27
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎜ ⎪ Proj( Kˆ r , y ) ⎪ ⎟
⎝ ⎩ −y
⎭ ⎠
⎛ ⎧ ⎫ ⎞
⎜ ⎪ ˆ + Φ ( x ) eT P B sgn ( Λ ) ⎬⎪ Λ ⎟
+2 trace ⎜ ∆ΘT ⎨ Γ Θ−1 Θ ⎟
⎜ ⎪ Proj( Θˆ , y ) ⎪ ⎟
⎝ ⎩ −y
⎭ ⎠ 28
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
( )
• Modified adaptive laws:
Kˆ x =Γ x Proj Kˆ x , − x eT P B sgn ( Λ )
Kˆ =Γ Proj ( Kˆ , − r e P B sgn ( Λ ) )
r r r
T
Θˆ =Γ Proj ( Θˆ , − Φ ( x ) e P B sgn ( Λ ) )
T
Θ
(
• Scalar adaptive gain: k =γ Proj k , − x e sgn ( b )
ˆ ˆ )
• Pre-specified parameter domain boundary:
() −
() ()
– using function: ˆ
k 2
k 2
2 ˆ
k
f kˆ = max
∇f kˆ = f ′ kˆ = 2
ε kmax
2
ε kmax
{ f ( kˆ ) ≤ 0} ⇒ { kˆ ≤ k } ⇒ kˆ is within bounds
max
– Projection Operator:
y = − x e sgn ( b ) ( ) ( ( )) ()
⎧ y 1 − f kˆ , if f kˆ > 0 and y f ′ kˆ > 0
⎪
Proj k , y = ⎨
ˆ ()
⎪⎩ y, if not 30
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
k=⎨
ˆ ⎪ ( ( ))
⎧− x e 1 − f kˆ , if ⎡ f kˆ > 0 and
⎣ () ()
x e f ′ kˆ ⎤ < 0
⎦
⎪⎩− x e, if not
()
kˆ 2 − kmax
2
where: f k = ˆ
ε kmax
2
• Geometric Interpretation
– adaptive parameter k̂ ( t ) changes within the pre-specified interval
– interval bound: kmax
– Bound tolerance: ε k̂ ( t )
− kmax 1 + ε kmax 1 + ε
x
−kmax 0 kmax 31
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• ˆ T Φ ( x)
Adaptive Control: u = Kˆ xT x + Kˆ rT r + Θ
• Augmentation: ˆ T Φ ( x) ± u
u = Kˆ xT x + Kˆ rT r + Θ nom
( ) ( ) ˆ T Φ ( x)
T T
= unom + Kˆ x − Fx x + Kˆ r − Fr r+Θ
Dˆ x Dˆ r
ˆ T Φ ( x)
= unom + Dˆ xT x + Dˆ rT x + Θ
• Incremental Adaptation:
( )
Dˆ x =Γ x Proj Dˆ x , − x eT P B sgn ( Λ ) , Dˆ x = 0n×m
Dˆ =Γ Proj ( Dˆ , − r e P B sgn ( Λ ) ) , Dˆ = 0
r r r
T
r m×m
Θˆ =Γ Proj ( Θ
ˆ , − Φ ( x ) e P B sgn ( Λ ) ) , Θ
T ˆ =0 32
Θ N ×m
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Control
+ Allocation
Actuators A/C Sensors x
Baseline Inner-Loop
Controller
ReferencerInput, r(t)
( )
σ (V T µ ) = σ ( v1T x + θ1 ) … σ ( vNT x + θ N ) 1 , where: σ ( s ) =
1
T
1 + e− s 34
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Control Feedback: u = Kˆ xT x + Kˆ rT r + Wˆ T σ Vˆ T µ( )
– (m n + m2 + (n + 1) N + (N + 1) m) - parameters to
estimate: Kˆ x , Kˆ r , Wˆ , Vˆ
Design Example
Adaptive Reconfigurable Flight Control using
RBF NN-s
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Aircraft Model
• Flight Dynamics Approximation, (constant speed):
( ) (
x p = Ap x p + B G Λ δ + K 0 ( x p ) = Ap x p + B p Λ δ + K 0 ( x p ) )
Bp
x p = (α β p q r)
T
– State:
– Control allocation matrix G
– Virtual Control Input: δ ∈ R
3
• System output: a = C x + D G Λ (δ + K ( x ) ) = C x + D Λ (δ + K ( x ) )
z p p
Dp
0 p p p p 0 p
x = A x + B1 Λ δ + K 0 ( x p ) + B2 u ( )
• Inner-Loop Control: δ L = K xT x + KuT u 38
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Reference Model
39
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Adaptive Augmentation
• Total control input: δ = Kˆ xT x + Kˆ uT u − Kˆ 0 ( x p ) ± δ L ( x, u )
Total Adaptive Control Nominal Baseline
= δ L ( x, u ) + Kˆ x − K x( ) ( ) u − Kˆ 0 ( x p )
T T
x + Kˆ u − K u
δ L ( x,u ) kˆx kˆu Θ ( )
ˆT Φ x
p
= δ L ( x p , xc , u ) + ∆Kˆ xT x + ∆Kˆ uT u − Θ
ˆ T Φ(x )
p
Inner-Loop Block-Diagram
x = (α β rw )
T
Ref.
xref p q r qI pI rI
Model -
e
Adaptive
Control
+ Allocation
Actuators A/C Sensors x
Baseline Inner-Loop
Controller
(
u = azcmd β cmd pcmd rcmd )
• Reference Model provides desired response
• Nominal Baseline Inner-Loop Controller
• Adaptive Augmentation
– Dead-Zone modification prevents adaptation from changing nominal
closed-loop dynamics
– Projection Operator bounds adaptation parameters / gains 42
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Adaptive Backstepping
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Why?
• MRAC requires model matching conditions
A + B Λ K xT = Am
B Λ K rT = Bm
0 0 ⎠ ⎝ x2 ⎠ ⎝ 1 ⎠
N ⎛ x1m ⎞ ⎛ −1 1 ⎞ ⎛ x1m ⎞ ⎛ 0 ⎞
A b
⎜ m⎟=⎜ ⎟⎜ m ⎟ + ⎜ ⎟ r
– Reference model: ⎝ x2 ⎠ ⎝0 −2 ⎠ ⎝ x2 ⎠ ⎝ 1 ⎠
Am
Matching ⎛1 0⎞ ⎛ 0 0⎞
conditions A − Am = ⎜ ⎟ ≠ b kx = ⎜
T
⎟
don’t hold ⎝ 0 2 ⎠ ⎝ ∗ ∗ ⎠
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Control goal
– Choose u such that: 1 ( )
x t → x1
com
( t ) , as t → ∞
• Assumptions
⎧ P
x1
P
x2
– All functions are known ⎪α = − Lα (α ) α + 1N q
⎪
g1
– gi ≠ 0 does not cross zero ⎨ f1
⎪q = M 0 (α , q ) + 1N qcmd
• Example: AOA tracking ⎪
g2 N
⎩ f2 u
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Backstepping Design
• Introduce pseudo control: x2com = x2com ( t )
• Rewrite the 1st equation:
x1 = f1 ( x1 ) + g1 ( x1 ) x2com + g1 ( x1 ) ( x2 − x2com )
∆x2
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Backstepping Design
(continued)
• Dynamic inversion using actual control
u=
1
g 2 ( x1 , x2 )
(
x com
2 − f 2 ( x1 , x2 ) − k2 ∆x2 − g1 ( x1 ) ∆x1 )
• Conclusion: xi ( t ) → xicom ( t ) , as t → ∞
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎜ ⎟=⎜ ˆ ⎟⎜ ⎟ − ⎜⎜ ∆θ T ∆θ T ⎟⎟ ⎜ Φ u ⎟ + ⎜ ε + ε u ⎟
⎝N∆x2 ⎠ ⎝ − g1 −k2 ⎠ ⎝ ∆x2 ⎠ ⎝ f2 g2 ⎠ ⎝ ⎠ ⎝ ⎠
N
g f2
g2
e A e Φ ε
∆ΘT
e = Ae − ∆ΘT Φ + ε
• Stable robust adaptive laws:
ˆ
(
Θ = Γ Proj Θ
ˆ , Φ eT )
• Conclusion: Bounded tracking
E. Lavretsky
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
*
E. Lavretsky and N. Hovakimyan, “Positive µ – modification for stable adaptation in the presence of input
constraints,” ACC, 2004.
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Overview
• Problem: Assure stability of an adaptive control system in the
presence of actuator position / rate saturation constraints.
• Solutions
– Ad-hoc
– Proof-by-simulation not acceptable
• System dynamics: x ( t ) = A x ( t ) + b λ u ( t ) , x ∈ R , u ∈ R
n
⎛ uc ⎞ ⎧⎪uc ( t ) , uc ( t ) ≤ umax
u ( t ) = umax sat ⎜ ⎟=⎨
⎝ umax ⎠ ⎪⎩umax sgn ( uc ( t ) ) , uc ( t ) ≥ umax
• Ideal Reference model dynamics: commanded input
xm* ( t ) = Am xm* ( t ) + bm r ( t ) , xm* ∈ R n , r ∈ R
Preliminaries
safety zone
δ
• Define: umax = umax − δ , where: 0 < δ < umax
δ⎛ uc ⎞
• Commanded control deficiency: ∆uc = umax sat ⎜ δ ⎟ − uc
⎝ umax ⎠
• Adaptive control with µ– modification, (implicit
form):
u c = k x x + k r r + µ ∆u c
T
ulin
linear feedback /
control deficiency feedback
feedforward component
Positive µ – modification
• Adaptive control with µ – mod is given by
⎛ ulin ⎞ δ
convex combination of ulin and umax sat ⎜ δ ⎟
⎝ umax ⎠
⎧
⎪u , u ≤ u δ
⎪ lin lin max
1 ⎛ ⎛ ulin ⎞⎞ ⎪ 1
uc = ⎜⎜ ulin + µ umax sat ⎜ δ
1+ µ ⎝
δ
=
⎟ ⎟⎟ ⎨
+ µ
( lin
u + µ u max )
δ
, u lin > u δ
max
⎝ umax ⎠⎠ ⎪ 1
⎪ 1
⎪
+ µ
( lin
u − µ u max )
δ
, ulin < − u δ
max
continuous in time but not ⎩1
continuously differentiable
⎛ ulin ⎞
δ = 0 ∧ ( µ = 0 ∨ µ = ∞ ) ⇒ u = umax sat ⎜ ⎟
⎝ max ⎠
u 6
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Closed-Loop Dynamics
• µ – mod control: uc = ulin + µ ∆uc
∆u
• System dynamics: x = A x + b λ uc + b λ ( u − uc )
• Closed-loop system:
linear control deficiency
∆ulin =u −ulin
x = A x + b λ ulin + b λ ( µ ∆uc + ∆u )
⎛ uc ⎞
where: ∆ulin = umax sat ⎜ ⎟ − ulin
⎝ umax ⎠
does not depend on µ explicitly
x = ( A + b λ k xT ) x + b λ ( kr r + ∆ulin ) 7
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
(
xm = Am xm + bm r ( t ) + ku ∆ulin , ) r ( t ) ≤ rmax
reference input
• Matching conditions: ⎧ A + b λ ( k T )* = A
⎪⎪ x m
⎪⎩b λ = bm ku ⎭⎪ 8
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
kx = −Γ x x eT P b
kr = −γ r r ( t ) eT P b ⇔ V = −eT Q e < 0 ⇒ V ( e, ∆k x , ∆kr , ∆ku ) ≤ 0
k = γ ∆u eT P b
u u lin m
⎧kx = −Γ x x eT P b
1 ⎛ ⎛ ulin ⎞⎞ ⎪⎪
⎜⎜ ulin + µ umax sat ⎜ δ
δ
uc = ⎟ ⎟⎟
⎨ r
k = − γ r ( t ) e T
Pb
1+ µ ⎝ ⎝ umax ⎠⎠ ⎪
r
⎪⎩ u
k = γ u ∆ u lin e T
P bm
⎛ ⎞
⎜ ⎛ ⎛ uc ⎞ ⎞⎟
xm = Am xm + bm ⎜ r + ku ⎜⎜ umax sat ⎜ ⎟ − ulin ⎟⎟ ⎟
modified reference
model
⎜ ⎝
⎝ umax ⎠ ⎠⎟
⎜ ⎟ 11
⎝ ∆ulin ⎠
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Simulation Example
• Unstable open-loop system:
⎛ uc ⎞
x = a x + b umax sat ⎜ ⎟ , where: a = 0.5, b = 2, umax = 0.47
⎝ umax ⎠
• Choose: δ = 0.2umax
δ
umax = umax − δ = 0.8 umax
Simulation Data
µ =0 µ =1
13
µ = 10 µ = 100
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
References:
• Lavretsky, E. “F/A-18 Autonomous Formation Flight Control System Design”, AIAA GN&C
Conference, Monterey, CA, 2002.
• Lavretsky, E., Hovakimyan, N., Calise, A., Stepanyan, V. “Adaptive Vortex Seeking Formation
Flight Neurocontrol”, AIAA-2002-4757, AIAA GN&C Conference,St. Antonio, TX, 2003.
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Program participants:
– NASA Dryden
– Boeing - Phantom Works
– UCLA
• Flight test program
– Completed in December of 2001
– 2 F/A-18 Hornets, 45 flights
– Demonstrated up to 20% induced
aerodynamic drag reduction
• AFF Autopilot
– Baseline linear classical design to meet
stability margins
– Adaptive incremental system to
counteract unknown vortex effects and
environmental disturbances
– On-line extremum seeking command
generation 3
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
∆Z ∆Z
+280
0.02
+280
2.50 +240 +240
+200 +200
+160 0.01 +160
+120 +120
CD form / CD
∆Cl
+010 +010
1.50 +005 -0.01 +005
+000 +000
-005 -005
-010 -0.02 -010
1.00 -020 -020
-040 -040
-080 -0.03 -080
-120 -120
0.50 -160 -160
-200 -0.04 -200
-240 -240
-280 -280
0.00
-0.05
0 100 200 300 400 500 600 700 800 900 1000
0 100 200 300 400 500 600 700 800 900 1000
∆Y ∆Y
close to vortex
“sweet” spot induced roll
reversal
4
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
• Trailing Aircraft:
Longitudinal Dynamics Lateral Dynamics
⎧l = V y = − g nz sin φ
⎧
⎪ ⎪
⎨ ρV 2 ⎨φ = p
(
⎪V = − g sin γ + 2 m S CTδT δ T − CD ( M , α )η ( y, φ ) ) ⎪ p = − a p + b δ + ξ y, φ
⎩
⎩ p δa a ( )
Throttle Input
Aileron Input
z Trailing Aircraft Modeling Assumptions
st
¾ SCAS yields 1 order roll dynamics & turn coordination
• Remarks:
– Aileron controls lateral separation
– Throttle controls longitudinal separation
• depends on lateral separation through unknown function η ( y , φ )
• Solution
– Using Direct Adaptive Model Reference Control
– Radial Basis Functions for approximation of uncertainties
∂ηˆ ( y, φ )
– Extremum Seeking Command Generation y r = −γ , γ > 06
∂y y = yr
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
7
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
9
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Provide Evidence
Preliminary V&V of Compliance
Design Concept Certification
Process
Certification of V&V
Intelligent System Tool and Process
Certification
Working Group Verification
Certification
Plan/Conduct
Authorities
Certifiable Verification
(FAA/DoD/
• Design Events
NASA) Certification
• Hardware (Test Plan)
Guidelines
Definition of • Software
Intelligent System Design and Build
Requirements
Certification Implementation
Requirement Requirements
(Cert. Plan) 2T049047.3
Figure C.3-16. Process for Certifying the Validation and Verification (V&V) Software and
• Goal: Provide theoretically
Developing justified
the Certification Two Major
z Intelligent
Process for Tasks
Adaptive Systems
V&V method and a process-based ¾ Stability Margins / Robustness
acceptance procedure to certify Analysis
current and future intelligent / ¾ S/W V&V Procedures
adaptive GN&C flight critical systems
10
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
11
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
12
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎪
⎪
q =
M
Iy
⎪
(
⎪⎩ M = q S c CM ≅ q S c CM 0 (α , q ) + CM δe (α , δ e ) δ e )
⎪
⎪θ = q
⎩
Problem:
¾Estimate on-line unknown aerodynamic coefficients
¾Find sufficient conditions (PE) that yield convergence of the estimated 13
parameters to their corresponding true (unknown) values
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Design Example:
F-16 Adaptive Pitch Rate Tracker
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
Aircraft Data
Short-Period Dynamics
• Trim conditions
– CG = 35%, Alt = 0 ft, QBAR = 300 psf, VT = 502 fps, AOA = 2.1 deg
• Nominal system
– statically unstable
– open-loop dynamically stable, (2 real negative eigenvalues)
• Control architecture
– baseline / nominal controller
• LQR pitch tracking design
– direct adaptive model following augmentation
• Simulated failures
– elevator control effectiveness: 50% reduction
– battle damage instability
• static instability: 150% increase
• pitch damping: 80% reduction
– pitching moment modeling nonlinear uncertainty 2
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
⎪ Z Z
α = α + + α δ
δe
– “wiggle” system in matrix form ⎨⎪ V q
V
⎛0 0 1 ⎞ ⎛ 0 ⎞ ⎪q = M α α + M q q + M δ δ e
⎛ eq ⎞ ⎜ ⎛ ⎞ ⎩
⎟ q ⎜
e ⎟
⎜ ⎟ ⎜ Zα ⎜ ⎟ Z
⎜α ⎟ = ⎜0 V 1 ⎟ ⎜ α ⎟ + ⎜ δ ⎟ δe ⇔ x = A x + B u
⎜ q ⎟ ⎟⎜ ⎟ ⎜ V ⎟ N
⎝N⎠ ⎜ 0 M ⎟ ⎝ q ⎠ ⎜ ⎟
u
M q ⎠ N ⎝ Mδ ⎠
⎝
α
x
x N 3
A B
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
δ ebl δ ead
( ) ˆ T Φ (α , q )
T
δ e = K x + kˆx x−Θ
⎧⎛ kˆ ⎞ ⎛ ⎛ kˆ ⎞ ⎛ 0 ⎞⎞
• Adaptive laws: ⎪⎜ α ⎟ ⎜⎜ α ⎟ ⎛ α ⎞
⎪⎜ kˆ ⎟ = Γ Proj ⎜ ⎜ kˆ ⎟ , − ⎜ q ⎟ q − q ref α − α
⎜ ⎟⎟
⎪⎜ q ⎟ x
⎜ ⎜ q ⎟ ⎜⎜ ⎟⎟ I
( I ref q − qref ) P ⎜ Zδ ⎟ ⎟
⎜ V ⎟⎟
⎪⎜ ˆ I ⎟ ⎜ ⎜ ⎟ ⎜ M ⎟⎟
( )
ˆ ⎝ I⎠
q
⎧kˆ = Γ Proj kˆ , − x eT P B
I
⎪⎜⎝ kq ⎟⎠
k
⎪ x x x 1 ⎝⎝ q ⎠ ⎝ δ ⎠⎠
⎨ ⎨
⎪Θ
⎩
ˆ = Γ Proj Θ
Θ (
ˆ , Φ ( x ) eT P B
p 1 ) ⎪
⎪
⎛
⎜
⎛ 0 ⎞⎞
⎜ ⎟⎟
⎪Θ ˆ , Φ (α , q ) ( q − q ref α − α
ˆ = Γ Proj ⎜ Θ q − qref ) P ⎜ Zδ ⎟ ⎟
Θ
⎪ ⎜ I I ref
⎜ V ⎟⎟
⎪ ⎜ ⎜ M ⎟⎟ 6
⎩ ⎝ ⎝ δ ⎠⎠
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications
δ ead δe Control
+ Allocation
Actuators F-16 Sensors x
δ ebl
Baseline Inner-Loop
Controller
qcmd 7
Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications