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AdaptivecontrolWikipedia,thefreeencyclopedia

Adaptivecontrol
FromWikipedia,thefreeencyclopedia

Adaptivecontrolisthecontrolmethodusedbyacontrollerwhichmustadapttoacontrolledsystemwith
parameterswhichvary,orareinitiallyuncertain.Forexample,asanaircraftflies,itsmasswillslowly
decreaseasaresultoffuelconsumptionacontrollawisneededthatadaptsitselftosuchchanging
conditions.Adaptivecontrolisdifferentfromrobustcontrolinthatitdoesnotneedaprioriinformation
abouttheboundsontheseuncertainortimevaryingparametersrobustcontrolguaranteesthatifthe
changesarewithingivenboundsthecontrollawneednotbechanged,whileadaptivecontrolisconcerned
withcontrollawchangingthemselves.

Contents
1Parameterestimation
2Classificationofadaptivecontroltechniques
3Applications
4Seealso
5References
6Furtherreading
7Externallinks

Parameterestimation
Thefoundationofadaptivecontrolisparameterestimation.Commonmethodsofestimationinclude
recursiveleastsquaresandgradientdescent.Bothofthesemethodsprovideupdatelawswhichareusedto
modifyestimatesinrealtime(i.e.,asthesystemoperates).Lyapunovstabilityisusedtoderivetheseupdate
lawsandshowconvergencecriterion(typicallypersistentexcitation).Projection(mathematics)and
normalizationarecommonlyusedtoimprovetherobustnessofestimationalgorithms.Itisalsocalled
adjustablecontrol.

Classificationofadaptivecontroltechniques
Ingeneraloneshoulddistinguishbetween:
1. FeedforwardAdaptiveControl
2. FeedbackAdaptiveControl
aswellasbetween
1. DirectMethodsand
2. IndirectMethods

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Directmethodsareoneswhereintheestimatedparametersarethosedirectlyusedintheadaptivecontroller.
Incontrast,indirectmethodsarethoseinwhichtheestimatedparametersareusedtocalculaterequired
controllerparameters[1]
Thereareseveralbroadcategoriesoffeedbackadaptivecontrol(classificationcanvary):
DualAdaptiveControllers[basedonDualcontroltheory]
OptimalDualControllers[difficulttodesign]
SuboptimalDualControllers
NondualAdaptiveControllers
AdaptivePolePlacement
ExtremumSeekingControllers
Iterativelearningcontrol
Gainscheduling
ModelReferenceAdaptiveControllers(MRACs)[incorporateareferencemodeldefining
desiredclosedloopperformance]
GradientOptimizationMRACs
[uselocalruleforadjusting
paramswhenperformancediffers
fromreference.Ex.:"MITrule".]
StabilityOptimizedMRACs
ModelIdentificationAdaptive
Controllers(MIACs)[performSystem
identificationwhilethesystemis
MRAC
running]
CautiousAdaptiveControllers
[usecurrentSItomodifycontrol
law,allowingforSIuncertainty]
CertaintyEquivalentAdaptive
Controllers[takecurrentSItobe
thetruesystem,assumeno
uncertainty]
NonparametricAdaptive
Controllers
MIAC
ParametricAdaptive
Controllers
ExplicitParameterAdaptiveControllers
ImplicitParameterAdaptiveControllers
Somespecialtopicsinadaptivecontrolcanbeintroducedaswell:
1. AdaptiveControlBasedonDiscreteTimeProcessIdentification
2. AdaptiveControlBasedontheModelReferenceTechnique
3. AdaptiveControlbasedonContinuousTimeProcessModels
4. AdaptiveControlofMultivariableProcesses
5. AdaptiveControlofNonlinearProcesses

Applications
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Whendesigningadaptivecontrolsystems,specialconsiderationisnecessaryofconvergenceandrobustness
issues.Lyapunovstabilityistypicallyusedtoderivecontroladaptationlawsandshowconvergence.
Typicalapplicationsofadaptivecontrolare(ingeneral):
Selftuningofsubsequentlyfixedlinearcontrollersduringtheimplementationphaseforone
operatingpoint
Selftuningofsubsequentlyfixedrobustcontrollersduringtheimplementationphaseforwholerange
ofoperatingpoints
Selftuningoffixedcontrollersonrequestiftheprocessbehaviourchangesduetoageing,drift,wear
etc.
Adaptivecontroloflinearcontrollersfornonlinearortimevaryingprocesses
Adaptivecontrolorselftuningcontrolofnonlinearcontrollersfornonlinearprocesses
Adaptivecontrolorselftuningcontrolofmultivariablecontrollersformultivariableprocesses
(MIMOsystems)
Usuallythesemethodsadaptthecontrollerstoboththeprocessstaticsanddynamics.Inspecialcasesthe
adaptationcanbelimitedtothestaticbehavioralone,leadingtoadaptivecontrolbasedoncharacteristic
curvesforthesteadystatesortoextremumvaluecontrol,optimizingthesteadystate.Hence,thereare
severalwaystoapplyadaptivecontrolalgorithms.

Seealso
Nonlinearcontrol
Intelligentcontrol
Lyapunovoptimization

References
1. Astrom,Karl(2008).AdaptiveControl.Dover.pp.2526.

Furtherreading
B.Egardt,StabilityofAdaptiveControllers.NewYork:SpringerVerlag,1979.
I.D.Landau,AdaptiveControl:TheModelReferenceApproach.NewYork:MarcelDekker,1979.
P.A.IoannouandJ.Sun,RobustAdaptiveControl.UpperSaddleRiver,NJ:PrenticeHall,1996.
K.S.NarendraandA.M.Annaswamy,StableAdaptiveSystems.EnglewoodCliffs,NJ:Prentice
Hall,1989DoverPublications,2004.
S.SastryandM.Bodson,AdaptiveControl:Stability,ConvergenceandRobustness.PrenticeHall,
1989.
K.J.AstromandB.Wittenmark,AdaptiveControl.Reading,MA:AddisonWesley,1995.
I.D.Landau,R.Lozano,andM.MSaad,AdaptiveControl.NewYork,NY:SpringerVerlag,1998.
G.Tao,AdaptiveControlDesignandAnalysis.Hoboken,NJ:WileyInterscience,2003.
P.A.IoannouandB.Fidan,AdaptiveControlTutorial.SIAM,2006.
G.C.GoodwinandK.S.Sin,AdaptiveFilteringPredictionandControl.EnglewoodCliffs,NJ:
PrenticeHall,1984.
M.Krstic,I.Kanellakopoulos,andP.V.Kokotovic,NonlinearandAdaptiveControlDesign.Wiley
Interscience,1995.
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P.A.IoannouandP.V.Kokotovic,AdaptiveSystemswithReducedModels.SpringerVerlag,1983.

Externallinks
ShankarSastryandMarcBodson,AdaptiveControl:Stability,Convergence,andRobustness,
PrenticeHall,19891994(book)(http://www.ece.utah.edu/~bodson/acscr/)
K.Sevcik:TutorialonModelReferenceAdaptiveControl(DrexelUniversity)
(http://www.pages.drexel.edu/~kws23/tutorials/MRAC/MRAC.html)
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