DocumentCode :
3439522
Title :
Trustable autonomous systems using adaptive control
Author :
Matsutani, M. ; Annaswamy, A.M. ; Gibson, T.E. ; Lavretsky, E.
Author_Institution :
Dept. of Aeronatutics & Astronaut., MIT, Cambridge, MA, USA
fYear :
2011
fDate :
12-15 Dec. 2011
Firstpage :
6760
Lastpage :
6764
Abstract :
A long standing problem in adaptive control is the derivation of robustness properties in the presence of unmodeled dynamics, a necessary and highly desirable property for designing adaptive flight control for systems with trustable autonomy. We provide a solution to this problem in this paper for linear time-invariant plants whose states are accessible for measurement. This is accomplished by using a Lipschitz continuous projection algorithm that allows the utilization of properties of a linear system when the adaptive parameter lies on the projection boundary. This in turn helps remove the restriction on plant initial conditions, as opposed to the currently existing proofs of semi-global stability. A direct implication of this result is the robustness of adaptive control systems to time-delays, and the guarantee that the underlying adaptive system will have a delay margin.
Keywords :
adaptive control; aerospace control; continuous systems; linear systems; robust control; Lipschitz continuous projection algorithm; adaptive flight control; adaptive parameter; linear system; linear time-invariant plants; projection boundary; robustness properties; trustable autonomous systems; trustable autonomy; unmodeled dynamics; Adaptive control; Equations; Mathematical model; Projection algorithms; Robustness; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
ISSN :
0743-1546
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2011.6161121
Filename :
6161121
Link To Document :
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