A Loop Recovery Method for Adaptive Control

Calise, Anthony J.; Yucelen, Tansel; Muse, Jonathan A.; Yang, Bong-Jun; Sys, Guided

doi:10.2514/6.2009-5967

Cited by 50 publications

(42 citation statements)

References 12 publications

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“…(49). Recently an adaptive loop recovery (ALR) modification term [25] was proposed with the objective of recovering the loop transfer properties of a chosen reference system. ALR modification can be introduced by letting St x xt T x xt, where x xt dxt=dxt 2 R sn and in this case s 1.…”

Section: Modifications To Derivative-free Adaptive Controlmentioning

confidence: 99%

Derivative-Free Model Reference Adaptive Control

Yucelen

Calise

2011

Journal of Guidance, Control, and Dynamics

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A derivative-free, delayed weight update law is developed for model reference adaptive control of continuous-time uncertain 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. Also discussed are employing various modification terms for further improving performance and robustness of the adaptively controlled system. Examples illustrate that the proposed derivative-free model reference adaptive control law is advantageous for applications to systems that can undergo a sudden change in dynamics.

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Section: Modifications To Derivative-free Adaptive Controlmentioning

confidence: 99%

Derivative-Free Model Reference Adaptive Control

Yucelen

Calise

2011

Journal of Guidance, Control, and Dynamics

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“…While the aspect of stabilization and command following can be dealt with in a nonlinear setting by employing Lyapunov stability analysis, issues related to margins can be addressed using the adaptive loop recovery (ALR) modification term proposed in Ref. 5. By employing ALR modification, the loop transfer properties of a reference system associated with a nominal control design are preserved in an adaptive system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control with loop transfer recovery: A Kalman filter approach

Yucelen

Calise

2011

Proceedings of the 2011 American Control Conference

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In this paper we develop a Kalman filter based adaptive controller for multivariable uncertain systems with loop transfer recovery of an associated reference system. This approach increases the level of confidence of adaptive control systems by providing a means for preserving stability margins even under uncertainty and failures. In addition, it results in an optimization based time-varying adaptation gain. An example is provided to illustrate the efficacy of the proposed approach.

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“…8 Generally, the standard MRAC has to be modified to improve robustness using the well-known σ -modification 5 and e-modification 9 or the recently developed optimal control modification 10 and adaptive loop recovery. 11 The aircraft responses due to a 60-ms time delay for the least-squares gradient method, RLS with η = 0.2, and neural network MRAC are illustrated in Figs. 14, 15, and 16.…”

Section: Flight Control Applicationmentioning

confidence: 99%