Accession Number : ADA304391

Title :   Adaptive Control of Systems with Uncertain Nonlinearities.

Descriptive Note : Final rept. 1 Oct 92-30 Sep 95,

Corporate Author : CALIFORNIA UNIV SANTA BARBARA CENTER FOR CONTROL ENGINEERING AND COMPUTATION

Personal Author(s) : Kokotovic, Peter V.

PDF Url : ADA304391

Report Date : 30 SEP 1995

Pagination or Media Count : 14

Abstract : Our broad research program in robust and adaptive control has culminated in the development of three new design methodologies presented in two books totaling 850 pages, four book chapters, 26 major journal publications, and more numerous conference papers. Our new inverse optimality approach to robust nonlinear control avoids the need to solve the HJI equation, but still achieves the desirable properties of optimal systems. A systematically constructed robust Lyapunov function is at the same time the upper value function of a meaningful differential game. For systems with unknown nonsmooth nonlinearities in actuators and sensors - hysteresis, dead-zone and backlash - we have developed an adaptive inverse approach. Adaptive controllers of this type compensate for the undesirable acts of the nonlinearities and with imperfect components achieve high tracking performance. Modular adaptive designs lead to new controllers applicable to larger classes of nonlinear systems. In the linear case, when other adaptive schemes are also applicable, our designs result in superior transient and steady-state performance. The results of this research have been well received by the research community and industrial applications are beginning to appear.

Descriptors :   *ADAPTIVE CONTROL SYSTEMS, *NONLINEAR SYSTEMS, MATHEMATICAL MODELS, UNCERTAINTY, OPTIMIZATION, PARAMETERS, INPUT OUTPUT PROCESSING, FEEDBACK, PARTIAL DIFFERENTIAL EQUATIONS, SYSTEMS ANALYSIS, CONTROL THEORY, RESEARCH MANAGEMENT, GAME THEORY, CLOSED LOOP SYSTEMS, LYAPUNOV FUNCTIONS.

Subject Categories : Operations Research

Distribution Statement : APPROVED FOR PUBLIC RELEASE