Adaptive systems history techniques prob
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Adaptive systems history techniques prob
Systems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob hniques, Problems,and PerspectivesWilliam s. Black 1‘, Poorya Haghi - and Kartik B. Ariyur 11School of Mechanical Engineering. Purdue University. 585 Purdue Mall. West Lafayette. IN 47907.USA: E-Mail: kanyur@purduc.edu2Cymer LLC. 17075 Thornmini Court. San Diego. CA 92127. USA: E-Mail: Poorya.Haghi@ Adaptive systems history techniques prob asinl.com* Author to whom correspondence should be addressed: E-Mail: wblack@purdue.edu.External Editors: Gianfranco Minati and Eliano PcssaReceived:Adaptive systems history techniques prob
6 August 2014: in revised form: / 5 September 2014 / Accepted: 17 October 2014 /Published: / / November 2014Abstract: We survey some of the rich histoSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob r systems for both control and observation/identilication. The focus is on linear plants to facilitate understanding, but we also provide the tools necessary for many classes of nonlinear systems. We discuss practical issues encountered in making these systems stable and robust with respect to addit Adaptive systems history techniques prob ive and multiplicative uncertainties. We discuss various perspectives on adaptive systems and their role in various fields. Finally, we present some oAdaptive systems history techniques prob
f the ongoing research and expose problems in the field of adaptive control.Keywords: systems; adaptation: control: identification: nonlinear1IntroducSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob nges in its environment or in its own components. In contrast, small changes or small ranges of change in system structure or parameters can be treated as system uncertainty, which can be remedied in dynamic operation cither by the static process of design or the design of feedback and feed-forward Adaptive systems history techniques prob control systems. By sy stems, we mean those in the sense of classical mechanics. The knowledge of initial conditions and governing equations determineAdaptive systems history techniques prob
s.Systems 2014. 2607in principle, the evolution of the system slate or degrees of freedom (a rigid body for example has twelve statcs-thrcc componentsSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob s functions or functionals of system state. The maintenance of such performance functions in the presence of large changes to either the system or its environment is termed adaptation in the control systems literature. Adaptation of a system, as in biological evolution, can be of two kinds-adapling Adaptive systems history techniques prob the environment to maintain performance. and adapting itself to environmental changes. In all cases, adaptive systems are inherently nonlinear, as theAdaptive systems history techniques prob
y possess parameters that arc functions of their slates. Thus, adaptive systems arc simply a special class of nonlinear systems that measure their ownSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob re that measured performance is close to targeted performance or specifications.The organization of the paper is as follows: Section 2 surveys some of the rich history of adaptive systems over the last century, follow ed by Section 3 with provides a tutorial on some of the more popular and common me Adaptive systems history techniques prob thods used in the field: Model Reference Adaptive Control. Adaptive Pole Placement. Adaptive Sliding Mode Control, and Extremum Seeking. Section 4 proAdaptive systems history techniques prob
vides a tutorial for the early-adaptive identification methods of Kudva, Ludcrs, and Narendra. A brief introductory discussion is provided for the nonSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob ation methods such as nonlinear behavior, observability and controllability for nonlinear systems, stability, and robustness. This section also includes some of the solutions for handling these problems. Section 6 discusses some of the interesting perspectives related to control, observation, and ad Adaptive systems history techniques prob aptation. Section 7 presents some of the open problems and future work related to control and adaptation such as nonlinear regression, partial stabiliAdaptive systems history techniques prob
ty, non-autonomous systems, and averaging.2History of Adaptive Control and IdentificationThe first notable and widespread use of ‘adaptive control’ waSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob into aircraft. Hight envelopes increased by large amounts and resulted in a wide range of operating conditions for a single aircraft. Flight envelopes grew even more with developing interest in hypersonic vehicles from the community. The existing autopilots al the lime left much to be desired in th Adaptive systems history techniques prob e performance across the flight envelope, and engineers began experimenting with methods that would eventually lead to Model Reference Adaptive ControAdaptive systems history techniques prob
l (MRAC). One of the earliest MRAC designs, developed by Whitaker [2,31. was used for flight control. During this time however, the notion of stabilitSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob on into MRAC [41. An immature theory coupled with bad and/or incomplete hardware configurations led to significant doubts and concents in the adaptive control community, especially after the crash of the X-15. This caused a major, albeit necessary, detour from the problem of adaptation to focus on s Adaptive systems history techniques prob tability.The late 1950s and early 1960s saw the formulation of the slate-space system representation as well as the use of Lyapunov stability for geneAdaptive systems history techniques prob
ral control systems, by both Kalman and Bertram [5,61- AleksandrSystems 2014. 2608Lyapunov first published his book on stability in 1892. bill the worSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob tion law design, rhe first MRAC adaptation law based on Lyapunov design was published by Parks in 1966 [ 11. During this time Filippov. Dubrovskii and Emelyanov were working on the adaptation of variable structure systems, more commonly known as sliding mode control |7|. Similar lo Lyapunov's method Adaptive systems history techniques prob , sliding mode control had received little attention outside of Russia until researchers such as Utkin published translations as well as novel work onAdaptive systems history techniques prob
the subject [81. Adaptive Pole Placement, often referred lo as Self-Timing Regulators, were also developed in the 1970s by Aslrom and Egardl with manSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob ere another main focal point during this decade with numerous publications relating to model reference designs as well as additional stabilization problems associated with not having full stale measurement [11—16J. However. Egardl 1171 showed instability in adaptive control laws due to small disturb Adaptive systems history techniques prob ances w hich, along with other concerns such as instabilities due to: high gains, high frequencies, fast adaptation, and lime-varying parameters, ledAdaptive systems history techniques prob
lo a focus on making adaptive control (and observation) robust in the 1980s. This led to the creation of Robust Adaptive Control law modifications sucSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob relatively fast transients a resurgence in Sliding Mode Control and its adaptive counterpart was seen, particularly in the field of robotics |22-24|. The ideas of persistent excitation and sufficient richness were also formulated in response to the stability movement by Boyd. Sastry. Bai. and Shimk Adaptive systems history techniques prob in 125-28).These three decades were also a fertile lime for nonlinear systems theory. Kalman published his work on controllability and observability fAdaptive systems history techniques prob
or linear systems in the early 1960s. and it took about 10 years to extend these ideas to nonlinear systems through the use of Lie theory [29-44], FeeSystems 2014. 2. 606-660: doi: 10.3390/systcms2040606OPEN ACCESSsystemsISSN 2079-8954www.mdpi.com/joumal/systemsArticleAdaptive Systems: History, Tech Adaptive systems history techniques prob improvements on our understanding of nonlinear systems and adaptation in the early 1990s was facilitated by the work on Backstopping and its adaptive counterpart by Kokotovic. Tsinias. Krstic. and Kancllakopoulos [53J. While Backstopping was being developed for matched and mismatched uncertainties, Adaptive systems history techniques prob Yao and Tomizuka created a novel control method Adaptive Robust Control [54]. Rather than design an adaptive controller and include robustness later.Adaptive systems history techniques prob
Yao and Tomizuka proposed designing a robust controller first to guarantee transient performance to some error bound, and include parameter adaptationGọi ngay
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