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    California Institute of Technology Control and Dynamical Systems CDS 270: Adaptive Control

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    Nors Noor
    This document provides information about the CDS 270: Adaptive Control course offered at the California Institute of Technology in Spring 2010. The course is graded pass/fail and focuses on the mathematical treatment of robust adaptive control theory and its applications to aerospace systems. Students will complete a course project designing and simulating an adaptive controller for a nonlinear system. The course covers topics such as adaptive control architectures, model reference adaptive control, enforcing robustness to uncertainties, and adaptive neurocontrol over 11 weeks.

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    California Institute of Technology Control and Dynamical Systems CDS 270: Adaptive Control

    Uploaded by

    Nors Noor
    90 views2 pages
    This document provides information about the CDS 270: Adaptive Control course offered at the California Institute of Technology in Spring 2010. The course is graded pass/fail and focuses on the mathematical treatment of robust adaptive control theory and its applications to aerospace systems. Students will complete a course project designing and simulating an adaptive controller for a nonlinear system. The course covers topics such as adaptive control architectures, model reference adaptive control, enforcing robustness to uncertainties, and adaptive neurocontrol over 11 weeks.

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    CDS270_AdaptiveControl_Syllabus_2010.pdf

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    This document provides information about the CDS 270: Adaptive Control course offered at the California Institute of Technology in Spring 2010. The course is graded pass/fail and focuses on the mathematical treatment of robust adaptive control theory and its applications to aerospace systems. Students will complete a course project designing and simulating an adaptive controller for a nonlinear system. The course covers topics such as adaptive control architectures, model reference adaptive control, enforcing robustness to uncertainties, and adaptive neurocontrol over 11 weeks.

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    © All Rights Reserved
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    Download as pdf or txt
    90 views2 pages

    California Institute of Technology Control and Dynamical Systems CDS 270: Adaptive Control

    Uploaded by

    Nors Noor
    This document provides information about the CDS 270: Adaptive Control course offered at the California Institute of Technology in Spring 2010. The course is graded pass/fail and focuses on the mathematical treatment of robust adaptive control theory and its applications to aerospace systems. Students will complete a course project designing and simulating an adaptive controller for a nonlinear system. The course covers topics such as adaptive control architectures, model reference adaptive control, enforcing robustness to uncertainties, and adaptive neurocontrol over 11 weeks.

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    CALIFORNIA INSTITUTE OF TECHNOLOGY

    Control and Dynamical Systems

    CDS 270: Adaptive Control

    Spring 2010

    Instructor
    Eugene Lavretsky, [email protected]
    Office Hours: Fridays, by appointment

    Grading
    Pass / Fail.

    Prerequisites
    Linear systems and control, basic understanding of nonlinear dynamics,
    Lyapunov stability theory, numerical methods, MATLAB.

    Course Outline
    The main goal of this course is to give a self-contained mathematical treatment of
    robust adaptive control theory and its current state of the art. Throughout the
    course, aerospace applications of robust adaptive control for uncertain dynamical
    systems (such as unmanned aircraft and guided munitions) will be presented.

    Project
    The course project will consist of a design, analysis, and simulation of an
    adaptive controller for a nonlinear dynamical system. Course projects will be
    assigned no later than the 4th week of classes from a list of available topics.
    Project reports will consist of both written and oral portions. The written portion
    of the report should be a detailed description of the selected topic using the
    terminology and notation of the class. Reports are due the first day of finals
    week. Students will present their work in class, during the last week of the term.

    Course material
    The following is a tentative outline of the material to be covered this term.

    1. Introduction, Motivating Examples, Current state of the art


    2. Review of Lyapunov Stability Theory
    3. LaSalle extensions, Barbalat Lemma, and Lyapunov-like Lemma
    4. Uniform Ultimate Boundedness
    5. Adaptive control architectures
    a. Basic concepts
    b. Design approach: Direct vs. indirect
    c. Certainty Equivalence Principle
    6. Model Reference Adaptive Control
    a. Augmentation of a nominal design
    b. Using dynamic inversion
    c. Adaptive backstepping
    7. Enforcing robustness to parametric and non-Parametric uncertainties
    a. Dead-zone
    b. Sigma modification
    c. E – modification
    d. Projection operator
    8. Artificial Neural Networks
    a. Universal approximation properties
    b. Using sigmoids
    c. Using Radial Basis Functions
    9. Adaptive NeuroControl
    10. Composite Model Reference Adaptive Control
    11. Recent Developments

    Main Textbooks:
    1. P. Ioannou, B. Fidan, Adaptive Control Tutorial, SIAM, Advances in Design and
    control, SIAM, PA, 2006.
    2. K. Narendra, A. Annaswamy, Stable Adaptive Control, Dover, N.Y., 2005.

    Supplementary Textbooks
    1. H.K. Khalil, Nonlinear Systems, 3rd Edition, Prentice Hall, New Jersey, 2002.
    2. J.J. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall, 1995.
    3. M. Krstic, I. Kanellakopoulos, P. Kokotovic, Nonlinear and Adaptive Control
    Design, John Wiley & Sons, New York, 1995.
    4. R.Marino, P.Tomei, Nonlinear Control Design: Geometric, Adaptive, Robust,
    Prentice Hall, New Jersey, 1995.
    5. S.S. Sastry, M. Bodson, Adaptive Control: Stability, Convergence and
    Robustness, Prentice Hall, 1989.

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