| Beschreibung |
Course content:
• Overview of basic adaptive control methods
• Examples for adaptive control systems
• Introduction to batch- and recursive least square parameter identification
• Self-tuning control
• Positive systems and hyper stability
• Model Reference Adaptive Control
• Feedback Linearization
• Zero Dynamics
• Flatness based control
Learning objectives:
Subject-specific competencies:
Students
• gain a basic understanding of methods for parameter identification
• know various types of adaptive control methods
• are able to implement parameter identification and automated control design methods
• can synthesize, design, implement and commissioning adaptive control systems
Methodological competencies:
• can apply the concept of feedback linearization to systems of immediate complexity
• can make educated judgements for choosing appropriate algorithms subject to re-quirements and applications
• can evaluate adaptive control methods subject to their performance, usability, etc.
• acquire an overview subject to some modern control algorithms
Interdisciplinary competencies:
• can analyze various dynamic models from various physical domains
• can identify a trade-off between complexity of algorithms and performance gains to be expected.
• can justify the importance of rigorous mathematical assumptions and proofs
• gain an understanding of recent trends in adaptive control
Literature and other sources of information:
• Adamy, Jürgen: Nichtlineare Regelungen, Springer, 2009 e-ISBN 978-3-642-00794-1
• Äström, K., Wittenmark, B.:Adaptive Control, 2nd Edition, 2008, ISBN 978-0486462783
• Narendra, K., Annaswamy, A.: Stable adaptive Systems, 2005, ISBN 978-0486442266
• Slotine, Jean-Jacques, Li, Weiping : Applied Nonlinear Control, Prentice Hall,1991, ISBN 0-13-040890-5
• Hovakimyan, Maira, Chengyu, Cao: L1 Adaptive Control Theory Guaranteed Robustness with fast Adaptation SIAM 2010 ISBN 978-0-898717-04-4Unbehauen, Rolf: Mehrdimensionale, adaptive und nichtlineare Systeme, Oldenbourg, 2010, ISBN 978-3-486-24023-8Selected recently published scientific papers |
