Dead-beat Identification for Model Reference Adaptive Control<sup>⋆</sup>

Kashani, Ali; Kalhor, Ahmad; Araabi, Babak Nadjar; Danielson, Claus

doi:10.1109/cdc51059.2022.9993147

2022 IEEE 61st Conference on Decision and Control (CDC) 2022

DOI: 10.1109/cdc51059.2022.9993147

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Dead-beat Identification for Model Reference Adaptive Control^⋆

Ali Kashani

Ahmad Kalhor

Babak Nadjar Araabi

et al.

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2024

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Robust data‐driven dynamic optimization using a set‐based gradient estimator

Kashani,

Panahi,

Chakrabarty

et al. 2024

Optim Control Appl Methods

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This article presents an extremum‐seeking control (ESC) algorithm for unmodeled nonlinear systems with known steady‐state gain and generally non‐convex cost functions with bounded curvature. The main contribution of this article is a novel gradient estimator, which uses a polyhedral set that characterizes all gradient estimates consistent with the collected data. The gradient estimator is posed as a quadratic program, which selects the gradient estimate that provides the best worst‐case convergence of the closed‐loop Lyapunov function. We show that the polyhedral‐based gradient estimator ensures the stability of the closed‐loop system formed by the plant and optimization algorithm. Furthermore, the estimated gradient provably produces the optimal robust convergence. We demonstrate our ESC controller through three benchmark examples and one practical example, which shows our ESC has fast and robust convergence to the optimal equilibrium.

show abstract

Robust data‐driven dynamic optimization using a set‐based gradient estimator

Kashani,

Panahi,

Chakrabarty

et al. 2024

Optim Control Appl Methods

View full text Add to dashboard Cite

show abstract

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Dead-beat Identification for Model Reference Adaptive Control^⋆

Cited by 1 publication

References 14 publications

Robust data‐driven dynamic optimization using a set‐based gradient estimator

Robust data‐driven dynamic optimization using a set‐based gradient estimator

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Dead-beat Identification for Model Reference Adaptive Control⋆

Cited by 1 publication

References 14 publications

Robust data‐driven dynamic optimization using a set‐based gradient estimator

Robust data‐driven dynamic optimization using a set‐based gradient estimator

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Product

Resources

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Dead-beat Identification for Model Reference Adaptive Control^⋆