TY - GEN
T1 - Scalability of closed-loop system responses in adaptive control schemes
AU - Schatz, Simon P.
AU - Yucelen, Tansel
AU - De La Torre, Gerardo
AU - Gruenwald, Benjamin
AU - Johnson, Eric N.
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - Although adaptive control offers a unique way to control dynamical systems without excessive reliance on their mathematical models, it is well known that nonidentical command profiles result in nonidentical closed-loop responses with such controllers, and therefore, it is of practical interest to study theoretical ways to construct predictable closed-loop responses when adaptive controllers are in the loop. To that end, we introduce a new concept called scalability to adaptive control in this paper. In particular, we analyze how to scale learning rates of adaptive weight update laws of various adaptive control schemes with respect to given command profiles to achieve a predictable closed-loop response. Illustrative numerical examples are provided to demonstrate the proposed concept and a possible utilization for the evaluation of adaptive controllers.
AB - Although adaptive control offers a unique way to control dynamical systems without excessive reliance on their mathematical models, it is well known that nonidentical command profiles result in nonidentical closed-loop responses with such controllers, and therefore, it is of practical interest to study theoretical ways to construct predictable closed-loop responses when adaptive controllers are in the loop. To that end, we introduce a new concept called scalability to adaptive control in this paper. In particular, we analyze how to scale learning rates of adaptive weight update laws of various adaptive control schemes with respect to given command profiles to achieve a predictable closed-loop response. Illustrative numerical examples are provided to demonstrate the proposed concept and a possible utilization for the evaluation of adaptive controllers.
UR - http://www.scopus.com/inward/record.url?scp=85015182422&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015182422&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2016.7838623
DO - 10.1109/ICARCV.2016.7838623
M3 - Conference contribution
AN - SCOPUS:85015182422
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -