NDLI: Low-Frequency Learning and Fast Adaptation in Model Reference Adaptive Control

Content Provider	IEEE Xplore Digital Library
Author	Yucelen, T. Haddad, W.M.
Copyright Year	1963
Abstract	While adaptive control has been used in numerous applications to achieve system performance without excessive reliance on dynamical system models, the necessity of high-gain learning rates to achieve fast adaptation can be a serious limitation of adaptive controllers. This is due to the fact that fast adaptation using high-gain learning rates can cause high-frequency oscillations in the control response resulting in system instability. In this note, we present a new adaptive control architecture for nonlinear uncertain dynamical systems to address the problem of achieving fast adaptation using high-gain learning rates. The proposed framework involves a new and novel controller architecture involving a modification term in the update law. Specifically, this modification term filters out the high-frequency content contained in the update law while preserving asymptotic stability of the system error dynamics. This key feature of our framework allows for robust, fast adaptation in the face of high-gain learning rates. Furthermore, we show that transient and steady-state system performance is guaranteed with the proposed architecture. Two illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach.
Sponsorship	IEEE Control Systems Society
Starting Page	1080
Ending Page	1085
Page Count	6
File Size	1573764
File Format	PDF
ISSN	00189286
Volume Number	58
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Standards Adaptation models Uncertainty Closed loop systems Transient analysis transient and steady state performance command following fast adaptation high-gain learning rate low-frequency learning nonlinear uncertain dynamical systems stabilization
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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