Questions?Contact:[email protected]
IntercalatedInjectionforDualRetrospectiveAdaptiveControlofNonminimum-PhaseSystems
ABSTRACT: Adaptive control is a promising approach to feedback control of systems with high levelsofuncertainty due to unmodeledphysics andunpredictable changes. By responding to the characteristics of theactual plant and environment, adaptive control can overcome the performance/robustness tradeoff of robustcontrol. In practice, however, adaptation must be sufficiently fast and accurate despite limited prior modelinginformation.Thistalkwillfocusonrecentdevelopmentsinretrospectivecostadaptivecontrol(RCAC)forcommandfollowinganddisturbancerejection.Inparticular,wewillpresentdualRCAC(DRCAC),whichusesconcurrentclosed-loopidentificationtoestimatethekeymodelinginformationneededbyRCAC,includingnonminimum-phasezeros.Thisinformationisusedtoconstructatargetmodelforaclosed-looptransferfunctionthatarisesfromintercalatedinjection of a virtual exogenous controllerperturbation. DRCAC depends on optimization of a biquadratic costfunction,whoseminimizerprovidesboththecontrollerupdateandtherequiredmodelinginformation.
ThisresearchwasperformedbycurrentstudentsYousafRahman,AntaiXie,FrantSobolic,AnkitGoel,MingYu,andAhmadAnsari.
BIO:Myinterestsincludeidentification,estimation,andcontrolforaerospaceapplications.Myresearchhasfocusedonactivenoise and vibration control, motion control, and spacecraft attitude control. My current interests are in the theory andapplicationofnonlinearsystemidentification,large-scalestateestimationfordataassimilation,andadaptivecontrol.Iamthedirector of the Noise, Vibration, and Motion Control Laboratory, which includes instrumentation and testbeds for controlapplications. A 6-degree-of-freedom electric shaker table under all-digital control is used for vibration and motion controlapplications. Current research is focusing on minimal-modeling adaptive control algorithms for systems with uncertaindynamicsandunknowndisturbancespectra.
IwasEditor-in-ChiefoftheIEEEControlSystemsMagazinefromAugust2003toDecember2011..
DennisBernsteinUniversityofMichigan
DepartmentofAerospaceEngineering
Friday,September16,2016
3:30–4:30pm•1500EECS
Sponsoredby:Bosch,Ford,andToyota
