Derivative-Free Adaptive Control (Lectures on Adaptive Control and Learning)

Unlike standard model reference adaptive control methods, derivative-free model reference adaptive control has the capability to suppress the effect of time-varying uncertainties. Specifically, this time-variation can be sufficiently fast or not differentiable, where derivative-free model reference adaptive control does not need a projection operator or a leakage term in contrast to standard methods. This video covers the key aspects of the derivative-free model reference adaptive control, where you can find more about it from the below references:

[1] Yucelen, T. and Calise, A.J. eds., 2023. Derivative-Free Adaptive Control, AIAA Press.
[2] Yucelen, T. and Calise, A.J., 2011. Derivative-free model reference adaptive control. Journal of Guidance, Control, and Dynamics, 34(4), pp.933-950.
[3] Yucelen, T., Kim, K. and Calise, A., 2011, August. Derivative-free output feedback adaptive control. In AIAA Guidance, Navigation, and Control Conference (p. 6282).
[4] Yucelen, T. and Calise, A.J., 2014. Robustness of a derivative-free adaptive control law. Journal of Guidance, Control, and Dynamics, 37(5), pp.1583-1594.
[5] Yucelen, T., Kim, K. and Calise, A.J., 2015. Systems and methods for derivative-free adaptive control.

Note that [1] is the recent book that cover every aspect of this novel adaptive control architecture. [2] and [3] respectively covers the state feedback and the output feedback cases of this architecture. [4] is about its robustness and [5] is a related patent.