Graduated Persistent Excitation and steady state margins for adaptive systems

The numerous design tools developed for use with linear controllers, specifically gain and phase margins, do not apply to nonlinear control architectures such as model reference adaptive control. The first step for the development of Verification and Validation (V&V) techniques for this class of nonlinear control systems is presented in this thesis in the context of controlling uncertain flight vehicle dynamics. Using a Reduced Linear Asymptotic System (RLAS), which characterizes the asymptotic behavior of an adaptive system, methods for tuning the free adaptive system parameters such as Lyapunov matrix P to satisfy the desired performance criteria are presented. Making use of the fact that the RLAS is a linear time invariant system, optimization procedures based on output feedback and Linear Matrix Inequalities are proposed. The concept of Persistent excitation in the context of improving stability and robustness properties of closed loop adaptive systems is discussed. Graduated Persistent Excitation (GPE) is introduced as an easy to implement alternative to Persistent excitation.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2007

Author dc:creator

• Jain, Himani, S.M. Massachusetts Institute of Technology

Advisor dc:contributor.advisor

• Anuradha M. Annaswamy.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/39877

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/39877