Keywords and Phrases

Adaptive Control; Control Hedging; Convex Optimization; Linear Matrix Inequalities; Lyapunov; Validation And Verification

Abstract

"Linear matrix inequalities and convex optimization techniques have become popular tools to solve nontrivial problems in the field of adaptive control. Specifically, the stability of adaptive control laws in the presence of actuator dynamics remains as an important open control problem. In this thesis, we present a linear matrix inequalities-based hedging approach and evaluate it for model reference adaptive control of an uncertain dynamical system in the presence of actuator dynamics. The ideal reference dynamics are modified such that the hedging approach allows the correct adaptation without being hindered by the presence of actuator dynamics. The hedging approach is first generalized such that two cases are considered where the actuator output and control effectiveness are known and unknown. We then show the stability of the closed-loop dynamical system using Lyapunov based stability analysis tools and propose a linear matrix inequality-based framework for the computation of the minimum allowable actuator bandwidth limits such that the closed-loop dynamical system remains stable.

The results of the linear matrix inequality-based heading approach are then generalized to multiactuator systems with a new linear matrix inequality condition. The minimum actuator bandwidth solutions for closed-loop system stability are theoretically guaranteed to exist in a convex set with a partially convex constraint and then solved numerically using an algorithm in the case where there are multiple actuators. Finally, the efficacy of the results contained in this thesis are demonstrated using several illustrative numerical examples"--Abstract, page iii.

Advisor(s)

Yucelen, Tansel

Committee Member(s)

Muse, Jonathan
Landers, Robert G.

Department(s)

Mechanical and Aerospace Engineering

Degree Name

M.S. in Mechanical Engineering

Sponsor(s)

Universal Technology Corporation

Publisher

Missouri University of Science and Technology

Publication Date

Summer 2016

Pagination

ix, 60 pages

Note about bibliography

Includes bibliographic references (pages 57-59).

Rights

© 2016 Daniel Robert Wagner, All rights reserved.

Creative Commons Licensing

Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-Share Alike 3.0 License.

Document Type

Thesis - Open Access

File Type

text

Language

English

Library of Congress Subject Headings

Adaptive control systems
Matrix inequalities
Lyapunov stability

Thesis Number

T 10985

Electronic OCLC #

958294179

Comments

Funding provided by Air Force Research Laboratory Aerospace Systems Directorate and Universal Technology Corporation under the Grant 15-S2606-04-C27

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