adaptive control - uokeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤...

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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

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Page 1: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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

Page 2: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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%

Page 3: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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.

Page 4: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

Control System 7

Plant Representation

Control system

Control System Design 8

Page 5: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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.

Page 6: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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

Page 7: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

Non-identifier-based Adaptive Control

13

¨ Gain Scheduling

¨ Switching Control

¨ Multiple Model Control

Gain Scheduling 14

Page 8: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

Switching Control 15

¨ Switching between multiple models

Identifier-based Adaptive Control

16

¨ Model Reference Adaptive Control

¨ Self-Tuning Regulator

¨ PID control

Page 9: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

Model Reference 17

Self-Tuning Regulator 18

Page 10: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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

Page 11: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

Direct Adaptive Control 21

¨ no plant parameter

estimation

¨ estimate controller

parameters (gains) only

What kind of controller? 22

Page 12: Adaptive Control - UOKeng.uok.ac.ir/mohammadkhani/courses/adaptivecontrol/l1_intro_2p.pdf · ¤ Model Reference Adaptive Control ¤ Adaptive Pole Placement Control ¤ Adaptive Control

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Thank You!