Masters Theses
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 bibliographical references (pages 57-59).
Rights
© 2016 Daniel Robert Wagner, All rights reserved.
Creative Commons Licensing
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
Subject Headings
Adaptive control systems
Matrix inequalities
Lyapunov stability
Thesis Number
T 10985
Electronic OCLC #
958294179
Recommended Citation
Wagner, Daniel Robert, "A linear matrix inequality-based approach for the computation of actuator bandwidth limits in adaptive control" (2016). Masters Theses. 7572.
https://scholarsmine.mst.edu/masters_theses/7572
Comments
Funding provided by Air Force Research Laboratory Aerospace Systems Directorate and Universal Technology Corporation under the Grant 15-S2606-04-C27