Scalability of closed-loop system responses in adaptive control schemes

Simon P. Schatz, Tansel Yucelen, Gerardo De La Torre, Benjamin Gruenwald, Eric N. Johnson, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509035496
DOIs
StatePublished - Jan 31 2017
Event14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, Thailand
Duration: Nov 13 2016Nov 15 2016

Publication series

Name2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Other

Other14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
CountryThailand
CityPhuket
Period11/13/1611/15/16

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Instrumentation
  • Computer Vision and Pattern Recognition

Cite this

Schatz, S. P., Yucelen, T., De La Torre, G., Gruenwald, B., Johnson, E. N., & Holzapfel, F. (2017). Scalability of closed-loop system responses in adaptive control schemes. In 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 [7838623] (2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2016.7838623