Derivative Free Adaptive Control - Theory and Application to NASA AirSTAR (Short Lecture)
Автор: Tansel Yucelen
Загружено: 2012-11-22
Просмотров: 3382
This short lecture presents a derivative-free, delayed weight update law for adaptive control of continuous-time uncertain dynamical systems, without assuming the existence
of constant ideal weights. Using a Lyapunov-Krasovskii functional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modification terms in the adaptive law. Estimates for the ultimate bound and the exponential rate of convergence to the ultimate bound are provided. Simulation examples and experimental results on NASA AirSTAR illustrate that the proposed derivative-free adaptive control theory is advantageous for applications to systems that can undergo a sudden change in dynamics.
Before watching this short lecture, I recommend to read the following paper:
T. Yucelen and A. Calise, "Derivative-free model reference adaptive control," AIAA Journal of Guidance, Control, and Dynamics, 2011 (click to http://tanselyucelen.com/resources/20... download this paper)
Доступные форматы для скачивания:
Скачать видео mp4
-
Информация по загрузке:
