Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications

Course Overview
• Motivating Example
• Review of Lyapunov Stability Theory
– Nonlinear systems and equilibrium points
– Linearization
– Lyapunov’s direct method
– Barbalat’s Lemma, Lyapunov-like Lemma, Bounded Stability
• Model Reference Adaptive Control
– Basic concepts
– 1st order systems
– nth order systems
– Robustness to Parametric / Non-Parametric Uncertainties
• Neural Networks, (NN)
– Architectures
– Using sigmoids
– Using Radial Basis Functions, (RBF)
• Adaptive NeuroControl
• Design Example: Adaptive Reconfigurable Flight Control using
2
RBF NN-s
E. Lavretsky