Adaptive Architectures for Control of Uncertain Dynamical Systems with Actuator Dynamics

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00325171" target="_blank" >RIV/68407700:21230/18:00325171 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.2514/4.104794" target="_blank" >http://dx.doi.org/10.2514/4.104794</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.2514/4.104794" target="_blank" >10.2514/4.104794</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Adaptive Architectures for Control of Uncertain Dynamical Systems with Actuator Dynamics

Popis výsledku v původním jazyce

Stability properties of adaptive controllers can be seriously affected by the presence of actuator dynamics. Specifically, if the bandwidth of the actuator dynamics is sufficiently high, then a common practice is to neglect these dynamics in the design of adaptive controllers. However, if this is not the case and/or safety- critical applications of adaptive controllers are considered, then stability verification steps must be taken to show the allowable bandwidth range for actuators such that adaptive controllers lead to stable closed-loop system trajectories. Motivated from this standpoint, the purpose of this chapter is to present safe adaptive architectures for control of uncertain dynamical systems with actuator dynamics. We first present a linear matrix inequalities-based hedging framework, which modifies the ideal reference model trajectories to allow for correct adaptation that is not affected by the presence of actuator dynamics. Stability of the closed-loop dynamical system utilizing this framework is discussed using Lyapunov-based analysis tools. Next, we establish convergence properties of the modified reference model trajectories to the ideal reference model trajectories and present a generalization of the proposed linear matrix inequalities-based hedging framework to adaptive control. An algorithm is also presented to allow for less conservative computations of the minimum allowable actuator bandwidths as well as solving for cases in which there are multiple actuators. Finally, we illustrate the reported findings through an example on a linearized hypersonic aircraft model."

Název v anglickém jazyce

Adaptive Architectures for Control of Uncertain Dynamical Systems with Actuator Dynamics

Popis výsledku anglicky

Stability properties of adaptive controllers can be seriously affected by the presence of actuator dynamics. Specifically, if the bandwidth of the actuator dynamics is sufficiently high, then a common practice is to neglect these dynamics in the design of adaptive controllers. However, if this is not the case and/or safety- critical applications of adaptive controllers are considered, then stability verification steps must be taken to show the allowable bandwidth range for actuators such that adaptive controllers lead to stable closed-loop system trajectories. Motivated from this standpoint, the purpose of this chapter is to present safe adaptive architectures for control of uncertain dynamical systems with actuator dynamics. We first present a linear matrix inequalities-based hedging framework, which modifies the ideal reference model trajectories to allow for correct adaptation that is not affected by the presence of actuator dynamics. Stability of the closed-loop dynamical system utilizing this framework is discussed using Lyapunov-based analysis tools. Next, we establish convergence properties of the modified reference model trajectories to the ideal reference model trajectories and present a generalization of the proposed linear matrix inequalities-based hedging framework to adaptive control. An algorithm is also presented to allow for less conservative computations of the minimum allowable actuator bandwidths as well as solving for cases in which there are multiple actuators. Finally, we illustrate the reported findings through an example on a linearized hypersonic aircraft model."

Druh

C - Kapitola v odborné knize

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název knihy nebo sborníku

Advances in Computational Intelligence and Autonomy for Aerospace Systems

ISBN

978-1-62410-478-7

Počet stran výsledku

40

Strana od-do

369-408

Počet stran knihy

431

Název nakladatele

AIAA

Místo vydání

Reston, VA

Kód UT WoS kapitoly

—