Safe Adaptive Control [electronic resource] : Data-Driven Stability Analysis and Robust Synthesis / by Margareta Stefanovic, Michael G. Safonov.Material type: TextLanguage: English Series: Lecture Notes in Control and Information Sciences: 405Publisher: London : Springer London, 2011Description: XII, 148p. 89 illus., 21 illus. in color. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9781849964531Subject(s): Engineering | Artificial intelligence | Systems theory | Mathematical optimization | Engineering | Control | Systems Theory, Control | Optimization | Artificial Intelligence (incl. Robotics)Additional physical formats: Printed edition:: No titleDDC classification: 629.8 LOC classification: TJ212-225Online resources: Click here to access online
Introduction -- Definitions and Preliminary Facts -- Stability Results -- Generalization to the Time-varying Case -- Switched Adaptive Controller: Robust Synthesis -- Comparison with Other Switching Adaptive Schemes -- Conclusion.
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.