Model-Reference Adaptive Control: A Primer PDF
Preview Model-Reference Adaptive Control: A Primer
Advanced Textbooks in Control and Signal Processing Nhan T. Nguyen Model- Reference Adaptive Control A Primer Advanced Textbooks in Control and Signal Processing Series editors Michael J. Grimble, Glasgow, UK Michael A. Johnson, Oxford, UK Linda Bushnell, Seattle, WA, USA More information about this series at http://www.springer.com/series/4045 Nhan T. Nguyen Model-Reference Adaptive Control A Primer 123 Nhan T.Nguyen Intelligent Systems NASA AmesResearch Center Moffett Field,CA USA ISSN 1439-2232 ISSN 2510-3814 (electronic) AdvancedTextbooks inControl andSignal Processing ISBN978-3-319-56392-3 ISBN978-3-319-56393-0 (eBook) https://doi.org/10.1007/978-3-319-56393-0 LibraryofCongressControlNumber:2017953807 MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc., 1 Apple Hill Drive, Natick,MA01760-2098,USA,http://www.mathworks.com. ©SpringerInternationalPublishingAG2018 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland To my wife Rosa and my children Daniel and Natalia ’ Series Editors Foreword The Advanced Textbooks in Control and Signal Processing series is designed as a vehicleforthesystematictextbookpresentationofbothfundamentalandinnovative topics in the control and signal processing disciplines. It is hoped that prospective authors will welcome the opportunity to publish a more rounded and structured presentation of some of the newer emerging control and signal processing tech- nologiesinthistextbookseries.However,itisusefultonotethattherewillalways be a place in the series for contemporary presentations offoundational material in these important engineering areas. The science ofadaptive control designand implementation,as presentedin this textbook,ismotivatedbysomeverypracticalproblemsfoundinreal-worldcontrol applications. Probably the most important issue is maintaining the desired perfor- mance specifications and closed-loop system stability in the presence of changing processdynamics.Thewayarealsystemcanchangeisaninterestingtopicinitself. A system may operate for long periods with unchanging parameters or character- istics and then change both significantly and rapidly when, for example, a new operating regime begins. Alternatively, a system may be changing all the time, sometimes slowly, as in the case of long-term component wear and degradation, and sometimes more rapidly as a product evolves or new operating regimes are entered. When system change is predictable, the most widely applied forms of adaptive controlareprobablythecontrollergainscheduleandthecontrollerscheduleperse. These technologies have the advantages of application transparency and, in safety-critical situations, verifiability. This approach has links to the methods of multimodel control design. Anotherapproachtoadaptivecontrolisthatofonlineupdatesandimprovements to linear parameter varying control designs when the underlying system is non- linear, partially uncertain, or slowly changing. A technique that found much favor was that of self-tuning control. Although this technique has a very transparent architecture,itwassoonrealizedthat,evenwhenplantswerelinear,thesetypesof adaptive control problems are nonlinear systems that need nonlinear systems analysis for their study. vii viii SeriesEditors’Foreword The other theme in this textbook is the use of a model-reference control framework.Intheliteratureofdeterministiccontroldesigns,suchschemesaremore likely to be termed “model-following” control systems. This class of techniques is an interesting field in its own right. Quite a few contributions focus on the use of classical PID controllers in the model-following framework to achieve additional robustness and performance gains in the presence of process uncertainty. Afundamentalpurposeofthemodelintheseschemesistoinstilthedesiredcontrol system performance specifications such as overshoot, rise time, zero steady-state error,andprescribedstabilitymargins.Animportantartinthismethodistospecify the model so that the closed-loop process can actually achieve the desired perfor- mance specifications. Combining adaptive control with model-following design yields the class of methodsknownasmodel-referenceadaptivecontrol(MRAC).Tounderstandsuch methods requires a good grounding in nonlinear systems methods and Lyapunov stabilitytheory.ThisiswherethetextModel-ReferenceAdaptiveControl:APrimer byNhanT.Nguyenbegins.Dr.Nguyenhasdistilledhismanyyearsofexperience intothistextbookforwhichthematerialhasbeentestedonlecturecoursesgivenby the author. The material is presented in sharply focussed sections with examples, chapter exercises, and supporting references. Dr. Nguyen is a leading research scientistattheNASAAmesResearchCenteratMoffettField,California,USA,and his extensive research has included an exploration of the potential of MRAC in aerospace applications. This experience is reflected in the textbook through the discussions he presents on the certification and validation of adaptive control methods in safety-critical systems and high-risk human aerospace applications. OutcomesfromDr.Nguyen’sexperiencesarealsoevidentinthefinalchapterofthe textbookthatcontainsthedetailsofanumberofcasestudiesmostlydrawnfromthe aerospace field. The Series Editors are pleased to welcome this application- orientated textbook to the Advanced Textbooks in Control and Signal Processing series and believe it will find a wide readership in the control and aerospace communities. January 2017 M. J. Grimble M. A. Johnson Industrial Control Centre Glasgow, Scotland, UK Preface Thistextbookisdevelopedfromaseriesoflecturenotesforgraduatecoursesthatthe author has taught. The textbook includes new research materials that the author developedduringhisresearchatNASAAmesResearchCenter.Theintendedreaders ofthisbookaremasters-levelgraduatestudentsandbeginningdoctoralstudents.The authornotesthatthereexistmanyexcellentadvancedadaptivecontroltextbooksthat provide in-depth rigorous mathematical control theory aimed at doctoral and post- doctoral researchers. This textbook is aimed at applied control theory and applica- tions intendedtoprovide the readersa sufficient working understandingofadaptive controltheorythroughapplications.Examplesandproblemsetsareusedtoreinforce the materials and aid the understanding through applications of adaptive control techniques.Asolutionsmanualformanyoftheproblems,availablefreeofchargeto instructors who adopt this textbook for use in teaching their courses, can be downloaded from http://www.springer.com/book/9783319563923. During the course of teaching, the author feels that such a textbook could help beginning graduatestudentstobetterunderstandandappreciatetherichnessofadaptivecontrol without feeling being overwhelmed by the mathematics of real analysis required in adaptive control theory. It is with this objective in mind that the author decided to compose this manuscript. Adaptivecontrolisawell-researchedsubject,andassuch,thesubjectisenriched by a voluminous body of research literature. Many new advancements in adaptive control theory are still being developed in the present time. The textbook does not attempt toincorporateall ofthelatestdevelopments inadaptivecontroltheory,for this would require an extensive endeavor which would be exceedingly beyond the scope of this textbook. Rather, the book tries to provide a foundation in the model-reference adaptive control with basic well-accepted adaptive control tech- niques. Parameter estimation by least-squares techniques and uncertainty approxi- mation by neural networks are covered. The second half of the book is devoted to the subject of robust adaptive control. Robustness issues with model-reference adaptivecontrolarediscussed.Standardmethodstoimproverobustnessarecovered intheremainderofthesecondhalfofthetextbook.Theseincludewell-established methods, such as the dead zone, projection, r modification, and e modification. ix x Preface More recent robust adaptive control methods are also covered. These include the author’s work in optimal control modification and bi-objective optimal control modification, as well as two recent well-known adaptive control methods: the adaptivelooprecoveryandL adaptivecontrol.Theauthorwellrecognizesthatthis 1 is by no means a complete exposition of all the latest advancements in robust adaptivecontroltheory.Thereaderswillbereferredtoalistofreferencesprovided inthebibliographyforotheradaptivecontrolmethods.Finally,thisbookincludesa chapteronapplications.Inparticular,theapplicationsonadaptiveflightcontrolare exhibited from the author’s body of research in this field. Acknowledgements The author wishes to acknowledge NASA Aeronautics Research Mission Directorate for providing the author with the opportunity to conduct research in adaptive control theory in the course of conducting aviation safety research. The author is appreciative of all the support from his colleagues at NASA Ames Research Center and NASA Armstrong (formerly Dryden) Flight Research Center during the course of research and flight testing of adaptive flight controllers on NASA research aircraft. In particular, the author wants to thank Joseph Totah and Kalmanje Krishnakumar of NASA Ames Research Center for their organizational support to allow the pursuit of this research. The author is appreciative of the friendly collaboration with John Bosworth, Curtis Hanson, and in particular John Burken of NASA Armstrong Flight Research Center on flight test validation of adaptivecontrol.TheauthorwouldliketoacknowledgeProf.AnthonyCalise,Prof. Naira Hovakimyan, and Prof. Kumpati Narendra for allowing their work to be included in the manuscript. The author also would like to acknowledge Stephen JacklinatNASAAmesResearchCenterforhisthoroughandinsightfulinputonthe certification of adaptive control. Finally, the author would be remiss without acknowledging the support of the author’s family that allows him the personal freedom to pursue the research that goes into this manuscript. Santa Clara, CA, USA Nhan T. Nguyen November 2016
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