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Adaptive Control
Lecture 1
Zhiyong Sun
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Where are we now (in the map of control theory)
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Adaptive Control
Lecture 1
Introduction to Adaptive Control
& Model Reference Adaptive Control
Chapter 5 Chapter 9
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Outline
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Introduction and historical review
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What is adaptive control?
• Adaptive systems
• Caught the imagination in the 1950-60s
• First use in flight control and design of autopilot operations
• Hypersonic program - highly successful
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History of adaptive control: flight application perspective
X-15
(NASA/USAF/ US Navy)
Intelligent adaptive
control (NN, Fuzzy
logic etc. )
Gain-scheduling
Current-generation
MIT rule
(NASA) robust adaptive control
F-8
Certifiable
Adaptive control
Robustness
Robust modification
Model-reference
adaptive control
Lyapunov theory
GTM T2 (NASA)
(NASA/Boeing)
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Adaptive control structure
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Motivating example I
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Motivating example II
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Motivating example II
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Motivating example II
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Signal convergence & Barbalat's Lemma
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Recap: signal norms
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Recap: signal (function) space
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Commonly-used signal spaces in adaptive control
• If this error signal 𝑒(𝑡) is bounded for all time, we write this formally as
• If a signal 𝑒(𝑡) is bounded for all time and has a finite norm, we write
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Recap: signal (function) space
Online quiz: determine the function space(s) that the following signals belong to
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(I) 𝑓 𝑡 = 𝑡 , 𝑡 ≥ 1 (the limits of integral are [1, \infty) )
(a) (b) (c)
(III) 𝑓 𝑡 = 𝑒 −𝑡 , 𝑡 ≥ 0
(a) (b) (c)
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Signal convergence
Also, the converse is not true: the fact that a function has
a limit does not imply that its derivative tends to zero.
Counterexamples:
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Barbalat's lemma for signal convergence
Barbalat's lemma:
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Barbalat's lemma for signal convergence
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This function is continuous but not uniformly continuous.
Its derivative
By Barbalat’s lemma, the above in turn indicates that 𝑒(𝑡) tends to zero.
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Model Reference Adaptive Control (MRAC)
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Uncertainty classification in uncertain plant
Structured uncertainty (aka parametric uncertainty): uncertain parameters but known
functional characteristics
• Exp: A linear spring-mass-damper system with an uncertain spring constant
Unmodeled dynamics: uncertain system internal or external dynamics that are not included
in a plant model
• Exp: A spring-mass-damper system with an uncertain spring characteristic
Matched uncertainty: structured uncertainty that can be matched by the control input
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Model reference control for scalar SISO systems
Consider a first-order nonlinear SISO system
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Direct MRAC for scalar SISO systems: case of unknown parameters
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
A reference model
An ideal controller that perfectly cancels out the uncertainty and enables 𝑥(𝑡) to
follow 𝑥𝑚(𝑡) is
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Direct MRAC for scalar SISO systems: case of unknown parameters
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
A reference model
A reference model
Lyapunov function
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Direct MRAC for scalar SISO systems: case of unknown parameters
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
to track a reference model
To make , we design
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Direct MRAC for scalar SISO systems: case of unknown parameters
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
to track a reference model
Lyapunov function
Time derivative of the Lyapunov function
are bounded ( )
is bounded ( )
By Barbalat’s lemma as
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Summary: direct MRAC for scalar SISO systems
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
to track a reference model
Lyapunov function
By Barbalat’s lemma as
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Direct MRAC for scalar SISO systems: case of known parameters
A reference model
Adaptive controller
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Direct MRAC for scalar SISO systems: case of known parameters
The tracking error equation
The adaptive law can be found
Lyapunov function
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A reference model
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Indirect MRAC for scalar SISO systems
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Indirect adaptive control (MRAC): certainty equivalence
Certainty equivalence
• Step 1: Algebraic part: find a solution to the problem when parameters are
known.
• Step 2: Analytic part: replace the unknown parameters by their estimates.
Ensure stable and convergent behavior.
• The use of the parameter estimates in place of the true parameters is known
39 as the certainty equivalence principle. 39
Indirect MRAC for scalar SISO systems
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
to track a reference model
Adaptive laws
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Indirect MRAC for scalar SISO systems
Consider a first-order nonlinear SISO system (suppose 𝑎 and 𝑏 are unknown,
but sign of 𝑏 is known )
to track a reference model
Lyapunov function
Time derivative of the Lyapunov function
are bounded ( )
is bounded ( )
Adaptive laws
It may occur that , while the adaptive control law “blows up”.
By Barbalat’s lemma, 43
Direct MRAC for MIMO systems
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Direct MRAC for MIMO systems
A reference model
Adaptive controller
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Direct MRAC for MIMO systems
The tracking error equation
The adaptive law
Positive definite matrix (for
Lyapunov function adaptation rate)
with
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Summary/take home messages
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The next lecture
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Appendix: vector norms
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Appendix: matrix norms
• Norm inequalities
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Appendix: positive definite matrix and quadratic Lyapunov function
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Appendix: matrix equalities
• Matrix trace
• Matrix derivative
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