Reza Mohammadkhani, PhD Email: [email protected]
University of Kurdistan, Iran.
1
Adaptive Control
Fall 2012
Course Overview 2
¨ Introduction
¨ Parametric Models
¨ Parameter Identifications
¨ Model Reference Adaptive Control
¨ Adaptive Pole Placement Control
¨ Adaptive Control for Non-linear Systems
Text Books 3
¨ Lecture notes
¨ P. A. Ioannou and B. Fidan, Adaptive Control
Tutorial, SIAM, 2006.
¨ P. Ioannou and J. Sun, Robust Adaptive Control,
Prentice Hall, 1996.
¨ K. J. Astrom and B. Wittenmark, Adaptive Control,
2nd Edition, Addison-Wesley, 1995.
Grading 4
¨ Final 50%
¨ Projects 50%
Introduction 5
History of Adaptive Control 6
¨ 1950’s
Autopilots for high-performance aircrafts operating over a wide range of speeds and altitudes.
¨ 1960’s
Space state and stability theory.
¨ 1970’s-1980’s
Proof for stability of adaptive control systems.
Control System 7
Plant Representation
Control system
Control System Design 8
Control System Design (cont.) 9
Problems 10
¨ Unknown plant model or parameters
¨ Plant parameters can vary with time!
¨ Unknown disturbance characteristics
¨ Adaptive controller: adapt to changes
¨ To adapt: to change a behaviour to conform to
new circumstances.
Adaptive Controller 11
¨ A controller with adjustable parameters and a
mechanism for adjusting the parameters.
Adaptive Control Design Strategies 12
¨ Identifier-based Adaptive Control
¨ Non-identifier-based Adaptive Control
Non-identifier-based Adaptive Control
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¨ Gain Scheduling
¨ Switching Control
¨ Multiple Model Control
Gain Scheduling 14
Switching Control 15
¨ Switching between multiple models
Identifier-based Adaptive Control
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¨ Model Reference Adaptive Control
¨ Self-Tuning Regulator
¨ PID control
Model Reference 17
Self-Tuning Regulator 18
Adaptive Control Strategies 19
¨ Indirect Adaptive control
¨ Direct Adaptive Control
Indirect Adaptive Control 20
¨ estimate plant
parameters
¨ compute controller
parameters
¨ relies on convergence
of the estimated
parameters to their
true unknown values
Direct Adaptive Control 21
¨ no plant parameter
estimation
¨ estimate controller
parameters (gains) only
What kind of controller? 22
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Thank You!