Safe Adaptive Control: Data-driven Stability Analysis and Robust Synthesis

✍ Scribed by Margareta Stefanovic, Michael G. Safonov (auth.)

• Publisher: Springer-Verlag London
• Year: 2011
• Tongue: English
• Leaves: 154
• Series: Lecture Notes in Control and Information Sciences 405
• Edition: 1
• Category: Library

✦ Synopsis

Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the presence of a stabilizing candidate controller is demonstrated by referring to several well-known adaptive control approaches, where the system goes unstable when a large mismatch between the unknown plant and the available models exists ("plant-model mismatch instability"). Sufficient conditions for this possibility to be avoided are formulated, and a "recipe" to be followed by the control system designer to guarantee stability and desired performance is provided. The problem is placed in a standard optimization setting. Unlike the finite controller sets considered elsewhere, the candidate controller set is allowed to be continuously parametrized so that it can deal with plants with a very large range of uncertainties.

✦ Table of Contents

Front Matter....Pages -
Front Matter....Pages 1-1
Overview of Adaptive Control....Pages 3-12
Front Matter....Pages 13-13
Safe Switching Adaptive Control: Theory....Pages 15-40
Safe Switching Adaptive Control: Examples....Pages 41-128
Conclusion....Pages 129-130
Back Matter....Pages -

✦ Subjects

Control; Systems Theory, Control; Optimization; Artificial Intelligence (incl. Robotics)